Genesis 47:29-30

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.”