As we said in the previous aliyah, the daughters of Tzelafechod brought a claim to Moshe. In the fourth aliyah, G-d answers that they are right, that if a man dies and has no son, his inheritance goes to his daughter. Then this aliyah goes on to explain other laws of inheritance.
The aliyah continues with G-d telling Moshe to go to the top of the mountain to see the land that the Jews are going to. G-d says that after that, Moshe will pass away without entering the land, because of the incident at the waters of Maribah (that was discussed in parsha Chukas). Rashi points out that Moshe immediately puts aside his own interests and asks, for the sake of the community, that G-d appoint a leader to succeed him. So at the end of the aliyah G-d appoints Yehoshua to take over in Moshe's place.