Genesis 47:29-31

When the time of Israel’s death was near, he summoned his beloved son Joseph and said to him, “Son, do me this favor before I die: Place your hand under my thigh as a pledge that you will show me kindness and loyal love. Do not bury me in Egypt, but when I go to rest with my fathers, I want you to carry me out of Egypt and bury me where they are buried. Swear that you will do this.” So Joseph took the oath and said, “I will do as you say.” Then Israel worshiped and leaned on the top of his staff.