Genesis 45:25-46:7 (NRSV)
God calls Jacob to go to Egypt
So they went up out of Egypt and came to their father Jacob in the land of Canaan. And they told him, "Joseph is still alive! He is even ruler over all the land of Egypt." He was stunned; he could not believe them. But when they told him all the words of Joseph that he had said to them, and when he saw the wagons that Joseph had sent to carry him, the spirit of their father Jacob revived. Israel said, "Enough! My son Joseph is still alive. I must go and see him before I die."
When Israel set out on his journey with all that he had and came to Beer sheba, he offered sacrifices to the God of his father Isaac. God spoke to Israel in visions of the night, and said, "Jacob, Jacob." And he said, "Here I am." Then he said, "I am God, the God of your father; do not be afraid to go down to Egypt, for I will make of you a great nation there. I myself will go down with you to Egypt, and I will also bring you up again; and Joseph's own hand shall close your eyes."
Then Jacob set out from Beer sheba; and the sons of Israel carried their father Jacob, their little ones, and their wives, in the wagons that Pharaoh had sent to carry him. They also took their livestock and the goods that they had acquired in the land of Canaan, and they came into Egypt, Jacob and all his offspring with him, his sons, and his sons' sons with him, his daughters, and his sons' daughters; all his offspring he brought with him into Egypt.