Genesis 33:1-4

Jacob looked up and saw Esau coming, and with him were four hundred men. So Jacob divided his children among Leah, Rachel, and the two slave girls. Jacob put the slave girls with their children first, then Leah and her children behind them, and Rachel and Joseph last. Jacob himself went out in front of them and bowed down flat on the ground seven times as he was walking toward his brother. But Esau ran to meet Jacob and put his arms around him and hugged him. Then Esau kissed him, and they both cried.