Genesis 47:29-30

²⁹And when the time drew near that Israel must die, he called his son Joseph and said to him, "If now I have found favor in your sight, put your hand under my thigh, and promise to deal loyally and truly with me. Do not bury me in Egypt, ³⁰but let me lie with my fathers; carry me out of Egypt and bury me in their burying place." He answered, "I will do as you have said."