See Genesis 50.24-25. The author uses a different word for die from verse 21 (literally “end,” see Revised Standard Version), but only for reasons of style.

Departure, like “exodus” in English, had the special meaning of the “great trek” or “long march” of Israel out of Egypt. From Egypt is added to make this clear.

The Israelites is literally “the sons of Israel,” a very common expression indicating the whole people. It may be awkward to introduce the temporal clause when he was about to die in the statement concerning Joseph speaking about the departure of the Israelites from Egypt. Accordingly, the first part of this verse may be rendered as “Because Joseph trusted God, he spoke about how the Israelites would leave Egypt; he said this when he was about to die.”

And leave instructions about what should be done with his body may be rendered as “and he told people what they should do with his body.” The point about Joseph’s body was that he ordered it to be carried out of Egypt when the Israelites left. The reference to the body may be puzzling to some readers unless it is explained by a note, or at least a reference to Genesis 50.25. Body, as RSV’s footnote states, is literally “bones,” meaning “remains.”

Quoted with permission from Ellingworth, Paul and Nida, Eugene A. A Handbook on The Letter of the Hebrews. (UBS Handbook Series). New York: UBS, 1983. For this and other handbooks for translators see here .