The Holy Qur'an says:
When the caravan had left the town (from Egypt), their father (in Kanaan) said, "I smell Yusuf's fragrance. I hope you will not think that I am weak in judgement (due to my love for him). They said, "By Allah ! You are still making the same old error. When someone brought him the glad news, Yusuf's shirt was placed on his face and his eyesight was restored. He said, "Did I not tell you that I know about Allah that which you do not know?"
Surah Yusuf, 12:94-96

After getting his eyesight back and hearing the good news of his son, Prophet Ya'qub (AS) decided to proceed to Egypt immediately. Prophet Yusuf (AS) was delighted to meet them and embraced his father and mother.
As a token of their gratitude to Allah at this reunion, his parents and brothers prostrated themselves on the ground.

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