Genesis 47:27-31

27Now the Israelites settled in the land of Egypt, in the region of Goshen. They acquired property there and became fruitful and increased greatly in number. 28And Jacob lived in the land of Egypt seventeen years, and the length of his life was 147 years.

29When the time drew near for Israel to die, he called his son Joseph and said to him, “If I have found favor in your eyes, put your hand under my thigh and promise to show me kindness and faithfulness. Do not bury me in Egypt, 30but when I lie down with my fathers, carry me out of Egypt and bury me with them.”

Joseph answered, “I will do as you have requested.”

31“Swear to me,” Jacob said.

So Joseph swore to him, and Israel bowed in worship at the head of his bed.1