Genesis 47:29-31

47:29 The time for Israel to die approached, so he called for his son Joseph and said to him, “If now I have found favor in your sight, put your hand under my thigh and show me kindness and faithfulness. Do not bury me in Egypt, 47:30 but when I rest with my fathers, carry me out of Egypt and bury me in their burial place.” Joseph said, “I will do as you say.”

47:31 Jacob said, “Swear to me that you will do so.” So Joseph gave him his word. Then Israel bowed down at the head of his bed.