Genesis 47:27-31

Now the Israelites settled in Egypt in the region of Goshen. They acquired property there and were fruitful and increased greatly in number. Jacob lived in Egypt seventeen years, and the years of his life were a hundred and forty-seven. 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.