Genesis 47:29-31

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