51 Heb “he”; the referent (Jacob) has been specified in the translation for clarity.
52 Heb “swear on oath to me.” The words “that you will do so” have been supplied in the translation for clarity.
53 Heb “he”; the referent (Joseph) has been specified in the translation for clarity.
54 Heb “swore on oath to him.”
55 The Hebrew verb normally means “bow down,” especially in worship or prayer. Here it might simply mean “bend low,” perhaps from weakness or approaching death. The narrative is ambiguous at this point and remains open to all these interpretations.
56 The reads מִטָּה (mittah, “bed, couch”). The reads the word as מַטֶּה (matteh, “staff, rod”) and interprets this to mean that Jacob bowed down in worship while leaning on the top of his staff. The reading was used in turn by the writer of the Letter to the Hebrews (Heb 11:21).

In other versions

And he said, “Swear to me”; and he swore to him. Then Israel bowed himself upon the head of his bed.

“Swear to me,” he said. Then Joseph swore to him, and Israel worshiped as he leaned on the top of his staff.

And Jacob said, “Swear to me.” So Joseph swore to him. Then Israel bowed in thanks at the head of his bed.

“Swear that you will do it,” Jacob insisted. So Joseph gave his oath, and Jacob bowed humbly at the head of his bed.

Then he said, “Swear to me.” And he swore to him. Then Israel bowed himself on the head of the bed.

And he said, Swear unto me. And he sware unto him. And Israel bowed himself upon the bed’s head.

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