Genesis 47:29-31

When Israel knew he soon would die, he called his son Joseph to him and said to him, “If you love me, put your hand under my leg. Promise me you will not bury me in Egypt. When I die, carry me out of Egypt, and bury me where my ancestors are buried.” Joseph answered, “I will do as you say.” Then Jacob said, “Promise me.” And Joseph promised him that he would do this. Then Israel worshiped as he leaned on the top of his walking stick.