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Kitto's Popular Cyclopedia of Biblial Literature
Thigh, the part of the body from the legs to the trunk, of men, quadrupeds, etc. Putting the hand under the thigh appears to have been a very ancient custom, upon occasion of taking an oath to anyone. Abraham required this of the oldest servant of his house, when he made him swear that he would not take a wife for Isaac of the daughters of the Canaanites (). Jacob required it of his son Joseph, when he bound him by oath not to bury him in Egypt, but with his fathers in the land of Canaan (). The origin, form, and import of this ceremony in taking an oath, are very doubtful. Smiting on the thigh denotes penitence (), grief, and mourning ().
Kitto, John, ed. Entry for 'Thigh'. "Kitto's Popular Cyclopedia of Biblial Literature". https://www.studylight.org/encyclopedias/eng/kbe/t/thigh.html.