Genesis 47:29-30

29When the time drew near for Israel to die, he called for his son Joseph and said to him, “If I have found favor in your eyes, put your hand under my thigh and promise that you will 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 where they are buried.” “I will do as you say,” he said.