Genesis 46:1-7 (ESV)
46 So Israel took his journey with all that he had and came to Beersheba, and offered sacrifices to the God of his father Isaac. 2 And God spoke to Israel in visions of the night and said, “Jacob, Jacob.” And he said, “Here I am.” 3 Then he said, “I am God, the God of your father. Do not be afraid to go down to Egypt, for there I will make you into a great nation. 4 I myself will go down with you to Egypt, and I will also bring you up again, and Joseph's hand shall close your eyes.”
5 Then Jacob set out from Beersheba. The sons of Israel carried Jacob their father, their little ones, and their wives, in the wagons that Pharaoh had sent to carry him.6 They also took their livestock and their goods, which they had gained in the land of Canaan, and came into Egypt, Jacob and all his offspring with him, 7 his sons, and his sons' sons with him, his daughters, and his sons' daughters. All his offspring he brought with him into Egypt.