Genesis 47:29-31

29And when the time drew near for Israel to die, he called his son Joseph and said to him, “If now I have found favor in your sight, please put your hand under my thigh and [promise to] deal loyally and faithfully with me. Please do not bury me in Egypt,

30but when I lie down with my fathers [in death], you will carry me out of Egypt and bury me in their burial place [at Hebron in the cave of Machpelah].” And Joseph said, “I will do as you have directed.”

31Then he said, “Swear to me [that you will do it].” So he swore to him. Then Israel (Jacob) bowed in worship at the head of the bed.