Genesis 47:27-31

Now Israel lived in the land of Egypt, in Goshen, and they acquired property in it and were fruitful and became very numerous. Jacob lived in the land of Egypt seventeen years; so the length of Jacob’s life was one hundred and forty-seven years. When the time for Israel to die drew near, he called his son Joseph and said to him, “Please, if I have found favor in your sight, place now your hand under my thigh and deal with me in kindness and faithfulness. Please do not bury me in Egypt, but when I lie down with my fathers, you shall carry me out of Egypt and bury me in their burial place.” And he said, “I will do as you have said.” He said, “Swear to me.” So he swore to him. Then Israel bowed in worship at the head of the bed.