Genesis 33:1-4

Jacob looked and saw Esau coming with 400 men. Jacob divided his family into four groups. Leah and her children were in one group, Rachel and Joseph were in one group, and the two maids and their children were in two groups. Jacob put the maids with their children first. Then he put Leah and her children behind them, and he put Rachel and Joseph in the last place. Jacob himself went out before them. While he was walking toward his brother Esau, he bowed down to the ground seven times. When Esau saw Jacob, he ran to meet him. He put his arms around Jacob, hugged his neck, and kissed him. Then they both cried.