Gen 47, 29:
"וַיִּקְרְבוּ יְמֵי־יִשְׂרָאֵל לָמוּת וַיִּקְרָא לִבְנוֹ לְיוֹסֵף וַיֹּאמֶר לוֹ
אִם־נָא מָצָאתִי חֵן בְּעֵינֶיךָ שִׂים־נָא יָדְךָ תַּחַת יְרֵכִי
וְעָשִׂיתָ עִמָּדִי חֶסֶד וֶאֱמֶת אַל־נָא תִקְבְּרֵנִי בְּמִצְרָיִם׃And when the time approached for Israel to die, he summoned his son Joseph and said to him, “Do me this favor, please, place your hand under my thigh as a pledge of your steadfast loyalty: please do not bury me in Egypt."
Seemingly, Yaakov should have commanded Yosef to bury him in Israel, but instead, he begged him.
Why?