Genesis 47:29-31

29The time came for him to die. So he called his son Joseph to come to him. Jacob said to him, ‘If you agree, make a serious promise to me. Put your hand between my legs to show that I can trust you. Promise that you will be kind to me and that you will do as I ask. When I die, do not bury me here in Egypt.

30Carry my body out of Egypt. Bury me in the grave of my ancestors.’ Joseph said, ‘I will do as you say.’

31Jacob said, ‘Promise me that you will do this.’ Then Joseph made a promise to him. After that, Jacob rested on his bed and he thanked God.