Genesis 47:29-30

29As the time of his death drew near, Jacob called for his son Joseph and said to him, “Please do me this favor. Put your hand under my thigh and swear that you will treat me with unfailing love by honoring this last request: Do not bury me in Egypt.

30When I die, please take my body out of Egypt and bury me with my ancestors.” So Joseph promised, “I will do as you ask.”