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Just as their is a mark of the beast their is a mark of G-d.

Exodus 13 (KJV)
9   And it shall be for a sign unto thee upon thine hand, and for a memorial between thine eyes, that the LORD's law may be in thy mouth: for with a strong hand hath the LORD brought thee out of Egypt.

Exodus 13
16   And it shall be for a token upon thine hand, and for frontlets between thine eyes: for by strength of hand the LORD brought us forth out of Egypt.

Deuteronomy 6
8   And thou shalt bind them for a sign upon thine hand, and they shall be as frontlets between thine eyes.

Deuteronomy 11
18   Therefore shall ye lay up these my words in your heart and in your soul, and bind them for a sign upon your hand, that they may be as frontlets between your eyes.

from the Hebrew
226 'owth oth probably from 225 (in the sense of appearing); a signal (literally or figuratively), as a flag, beacon, monument, omen, prodigy, evidence, etc.:--mark, miracle, (en-)sign, token.
1) sign, signal
a) a distinguishing mark
b) banner
c) remembrance
d) miraculous sign
e) omen
f) warning
2) token, ensign, standard, miracle, proof

from the Hebrew
2903 towphaphah to-faw-faw' from an unused root meaning to go around or bind; a fillet for the forehead:--frontlet.
1) bands, phylacteries, frontlets, marks

Deuteronomy 11
18   Therefore shall ye lay up these my words in your heart and in your soul, and bind them for a sign upon your hand, that they may be as frontlets between your eyes.
19   And ye shall teach them your children, speaking of them when thou sittest in thine house, and when thou walkest by the way, when thou liest down, and when thou risest up.
22   For if ye shall diligently keep all these commandments which I command you, to do them, to love the LORD your God, to walk in all his ways, and to cleave unto him;

(Obedience is the test of true love for G-d. Adam and Eve disobeyed, and were kicked out of the Garden. Abraham obeyed and it was counted unto him as righteousness)

26 Behold, I set before you this day a blessing and a curse;

(G-d gives you us a choice)

27   A blessing, if ye obey the commandments of the LORD your God, which I command you this day:
28   And a curse, if ye will not obey the commandments of the LORD your God, but turn aside out of the way which I command you this day, to go after other gods, which ye have not known.

The sign of G-d is His Torah, which in Hebrew means instructions and teachings. Those that accept the Torah are marked as those that are true children of G-d.

Deuteronomy 6
4   Hear, O Israel: The LORD our God is one LORD:

Mark 12
28   And one of the scribes came, and having heard them reasoning together, and perceiving that he had answered them well, asked him, Which is the first commandment of all?
29   And Jesus answered him, The first of all the commandments is, Hear, O Israel; The Lord our God is one Lord:
30   And thou shalt love the Lord thy God with all thy heart, and with all thy soul, and with all thy mind, and with all thy strength: this is the first commandment.

Matthew 22
36   Master, which is the great commandment in the law?
37   Jesus said unto him, Thou shalt love the Lord thy God with all thy heart, and with all thy soul, and with all thy mind.
38   This is the first and great commandment.
39   And the second is like unto it, Thou shalt love thy neighbour as thyself.
40   On these two commandments hang all the law and the prophets.

Yehoshua didn't say anything new. Yehoshua quoted from the Torah.

Deuteronomy 6
4   Hear, O Israel: The LORD our God is one LORD:
5   And thou shalt love the LORD thy God with all thine heart, and with all thy soul, and with all thy might.

Leviticus 19
18   Thou shalt not avenge, nor bear any grudge against the children of thy people, but thou shalt love thy neighbour as thyself: I am the LORD.

If you love your neighbor, you won't steal from them, if you love your neighbor you won't murder them, if you love your neighbor you won't covet your neighbors wife or commit adultery with your neighbor.

Yehoshua, chose to accept the mark of G-d by devoted obedience to Torah.

The mark of the beast:

Revelation 13:16 (KJV)
16 And he causeth all, both small and great, rich and poor, free and bond, to receive a mark in their right hand, or in their foreheads:

Revelation 14:9-11 (KJV)
9 And the third angel followed them, saying with a loud voice, If any man worship the beast and his image, and receive his mark in his forehead, or in his hand,
10 The same shall drink of the wine of the wrath of God, which is poured out without mixture into the cup of his indignation; and he shall be tormented with fire and brimstone in the presence of the holy angels, and in the presence of the Lamb:
11 And the smoke of their torment ascendeth up for ever and ever: and they have no rest day nor night, who worship the beast and his image, and whosoever receiveth the mark of his name.

Revelation 16:2 (KJV)
2 And the first went, and poured out his vial upon the earth; and there fell a noisome and grievous sore upon the men which had the mark of the beast, and upon them which worshipped his image.

Revelation 19:20 (KJV)
20 And the beast was taken, and with him the false prophet that wrought miracles before him, with which he deceived them that had received the mark of the beast, and them that worshipped his image. These both were cast alive into a lake of fire burning with brimstone.

from the Greek
5480 charagma khar'-ag-mah from the same as 5482; a scratch or etching, i.e. stamp (as a badge of servitude), or scupltured figure (statue):--graven, mark.
1) a stamp, an imprinted mark
a) of the mark stamped on the forehead or the right hand as the badge of the followers of the Antichrist
b) the mark branded upon horses
2) thing carved, sculpture, graven work
a) of idolatrous images

The New Strong's Dictionary of Hebrew and Greek Words defines charagma as:

charagma, a scratch or etching, i.e. stamp (as a badge of servitude), or sculptured figure (statue):- graven, mark.

The Theological Dictionary of the New Testament states the following with regard to this Greek word:
charagma [mark, stamp]
Marking is common in antiquity (cf. slaves, and the branding of devotees with the marks of deities).

The Greek-English Lexicon of the New Testament Based on Semantic Domains gives insight into the meaning of charagma when it states:
A strictly literal translation of ‘the mark of the beast’ might imply ‘a picture of the beast’ or ‘a mark made by the beast.’ A more satisfactory indication of the relationship between ‘mark’ and ‘beast’ would be ‘a mark showing one’s relationship to the beast’ or ‘a mark of loyalty to the beast’ or ‘a mark of the party of the beast.’ The mark is almost certainly a symbolic stamp or sign and is not to be taken literally as many blindly claim. This mark will be SYMBOLICALLY placed on - OR INSIDE - the forehead and/or right hand. The mark historically symbolizes servitude or allegiance to the one from whom the mark is received. The mark symbolizes the relationship existing between those that decide to receive it and the Beast (or his agents) from whom it is received. It shows the recipients of the mark to be loyal to the Beast and among his willful followers. The harlot of Revelation 17:5, historically and almost universally accepted as representing Rome and the evil Babylonian mystery religion that has continuously opposed the true faith, "bears on her forehead the mark of her true nature in a mysterious allusion to Babylon." One cannot "receive" something unless they "accept" it, which implies willingness. Thus, the mark is not forced, though there may be various levels of persuasion used. Ultimately, those that receive the mark do so of their own free will. In short, it is a spiritual mark, which exposes the hearts and minds of those receiving it. It shows to whom they willingly give their allegiance.