1 Kings 2:1

Then the days for Israel to die drew near, and he called his son Joseph and said to him, “Please, if I have found favor in your sight, place now your hand under my thigh and deal with me in lovingkindness and truth. Please do not bury me in Egypt.

“When your days are fulfilled and you lie down with your fathers, I will raise up one of your seed after you, who will come forth from your own body, and I will establish his kingdom.

Then he called for his son Solomon, and commanded him to build a house for Yahweh, the God of Israel.

David’s Command to Solomon