Joseph lives to be 110 years old and as he is about to die he says:
Genesis 50:24–25
24 Then Joseph said to his brothers, “I am about to die. But God will surely come to your aid and take you up out of this land to the land he promised on oath to Abraham, Isaac and Jacob.” 25 And Joseph made the Israelites swear an oath and said, “God will surely come to your aid, and then you must carry my bones up from this place.”
Remember the original readers of Genesis are 4 generations later, leaving Egypt in the Exodus. Many of them are complaining that they should have never left Egypt in the first place (Ex. 16:2-3). Here Moses includes Joseph's final words as words of hope that one day they will return to the land God promised their fathers (Gen. 13:17; 17:19; 12:7; 15:16). As the book of Genesis ends the people of Israel are living out the rest of the promise to Abraham—they are prospering, they are multiplying, becoming a great nation. However they are not in the land God promised them. So Joseph tells them to trust and wait for God to fulfill this remaining portion of his promise.
Twice he says that God will "come to your aid". The exact meaning of this word is disputed and difficult to come by (as seen by the multiple ways it is translated: ESV "visited"; NASB "take care of"; NLT "come to help you"). The general idea, however, is that God, in a place of authority over them, sees them and cares enough to act on their behalf. This is obviously fulfilled in the Exodus when God "sees what has has been done to them in Egypt." (Ex. 3:16)
This hope encapsulates the first announcement of the gospel in Genesis 3:15—the offspring of the woman will crush the head of the serpent. Ultimately God sees the suffering of his creation and he will visit his creation and act on their behalf. This he does in Jesus. As Zechariah anticipates the full fulfillment of the promise in Luke 1:68 “Praise be to the Lord, the God of Israel, because he has come to his people and redeemed them."
This hope of God fully visiting his people and dwelling with them forever is the hope of the entire Scripture. It is a hope we still long for and look forward to. When Jesus returns he will bring this promise to its fulfillment and the presence of God will be in the new creation with us forever (Rev. 21:1-7).