Genesis 47:29-31

29And the days of Israel approached that he should die. And he called his son Joseph, and said to him, If now I have found favour in thine eyes, put, I pray thee, thy hand under my thigh, and deal kindly and truly with me: bury me not, I pray thee, in Egypt; 30but when I shall lie with my fathers, thou shalt carry me out of Egypt, and bury me in their sepulchre. And he said, I will do according to thy word. 31And he said, Swear to me; and he swore to him. And Israel worshipped on the bed's head.