Genesis 47:29-31

29When the time approached for him to die, he called his son Joseph and said to him, “If I have found favor with you, put your hand under my thigh and promise me that you will deal with me in kindness and faithfulness. Do not bury me in Egypt.

30When I rest with my ancestors, carry me away from Egypt and bury me in their burial place.” Joseph answered, “I will do what you have asked.”

31And Jacob said, “Swear to me.” So Joseph swore to him. Then Israel bowed in thanks at the head of his bed.