Genesis 47:29-31

Young's Literal Translation

²⁹ And the days of Israel are near to die, and he calleth for his son, for Joseph, and saith to him, `If, I pray thee, I have found grace in thine eyes, put, I pray thee, thy hand under my thigh, and thou hast done with me kindness and truth; bury me not, I pray thee, in Egypt,

³⁰ and I have lain with my fathers, and thou hast borne me out of Egypt, and buried me in their burying-place.' And he saith, `I -- I do according to thy word;'

³¹ and he saith, `Swear to me;' and he sweareth to him, and Israel boweth himself on the head of the bed.