Genesis 33:1-4

Later that day Jacob met Esau coming with his 400 men. So Jacob told his children to walk with their mothers. The two servant women, Zilpah and Bilhah, together with their children went first, followed by Leah and her children, then by Rachel and Joseph. Jacob himself walked in front of them all, bowing to the ground seven times as he came near his brother. But Esau ran toward Jacob and hugged and kissed him. Then the two brothers started crying.