# When the time approached for Israel to die

"When it was almost time for Israel to die"

# If now I have found favor in your eyes

"If I have found favor with you" or "If I have pleased you"

# put your hand under my thigh

This act is a sign of making a serious promise.

# show me faithfulness and trustworthiness

"treat me in a faithful and trustworthy manner"

# Please do not bury me in Egypt

The word "please" adds emphasis to this request.