Genesis 47:29-31

When the time drew near for Israel to die, he called for his son Joseph and said to him, “If I have found favor in your eyes, put your hand under my thigh and promise that you will show me kindness and faithfulness. Do not bury me in Egypt, but when I rest with my fathers, carry me out of Egypt and bury me where they are buried.” “I will do as you say,” he said. “Swear to me,” he said. Then Joseph swore to him, and Israel worshiped as he leaned on the top of his staff.