Genesis 47:29-31

29The time for Israel to die approached, so he called for his son Joseph and said to him, “If now I have found favor in your sight, put your hand under my thigh and show me kindness and faithfulness. Do not bury me in Egypt,

30but when I rest with my fathers, carry me out of Egypt and bury me in their burial place.” Joseph said, “I will do as you say.”

31Jacob said, “Swear to me that you will do so.” So Joseph gave him his word. Then Israel bowed down at the head of his bed.