Exodus 13:19

השבע השביע HE HAD STRAITLY ADJURED — He had made them swear that they would make their children swear. But why did he not make his sons swear that they would take him to the land of Canaan immediately on his death, as Jacob had made his sons swear? Joseph said: I was a ruler in Egypt and I had sufficient power to do what my father desired; but my sons — the Egyptians will not permit them to do this. Consequently he made them swear that when they would be delivered and would go forth from there that they would take him up with them (Mekhilta). והעליתם את עצמתי מזה אתכם THEN YE SHALL BRING UP MY BONES AWAY HENCE WITH YOU — It was his brothers whom he made swear thus; consequently this tells us that they (the Israelites who left Egypt) must have brought up with them the bones of all Jacob’s sons (lit., the tribes) since it is said “with you” (with your own bones) (Mekhilta).

וַיִּקַּ֥ח מֹשֶׁ֛ה אֶת־עַצְמ֥וֹת יוֹסֵ֖ף עִמּ֑וֹ כִּי֩ הַשְׁבֵּ֨עַ הִשְׁבִּ֜יעַ אֶת־בְּנֵ֤י יִשְׂרָאֵל֙ לֵאמֹ֔ר פָּקֹ֨ד יִפְקֹ֤ד אֱלֹהִים֙ אֶתְכֶ֔ם וְהַעֲלִיתֶ֧ם אֶת־עַצְמֹתַ֛י מִזֶּ֖ה אִתְּכֶֽם׃

And Moshe took the bones of Yosef with him: for he had laid an oath on the children of Yisra᾽el, saying, God will surely visit you; and you shall carry up my bones away from here with you.