Bereshis 33:1-4

And Ya'akov lifted up his eyes, and looked, and, hinei, Esav came, and with him arba me'ot ish (four hundred men). And he divided the yeladim unto Leah, and unto Rachel, and unto the two shefachot. And he put the shefachot and their yeladim rishonah, and Leah and her yeladim acharonim, and Rachel and Yosef acharonim. And he passed over before them, and bowed himself to the ground sheva pe'amim, until he came near to achiv (his brother). And Esav ran to meet him, and embraced him, and fell on his tzavar (neck), and kissed him; and they wept.