Genesis 33:1-3

Then Jacob looked up, and saw Esau coming with four hundred men. So he divided the children among Leah and Rachel and the two maids. He put the maids and their children in front, Leah and her children after them, and Rachel and Joseph last of all. Then Jacob crossed over [the stream] ahead of them and bowed himself to the ground seven times [bowing and moving forward each time], until he approached his brother.