Midrasch zu Bereschit 46:29

And Joseph made ready his chariot (Gen. 46:29). R. Yudan said in the name of R. Aibu: Two men were accorded more homage than any other men in all the world; they were Jethro and Jacob. It is written that when Jethro came to Moses, Moses went out to meet his father-in-law (Exod. 18:7). Who would imagine Moses going out and other people not going out with him? Would not the leaders of the thousands and the hundreds go out, and would not the seventy elders and Aaron, the high priest, go out? Indeed, if he went out, would not all Israel go out with him to meet Jethro? Similarly, when Jacob came to live with Joseph, it is written: Joseph made ready his chariot and went out. Who, upon observing Joseph going out to meet his father, would fail to accompany him? Would not Pharaoh’s servants go out, would not the elders of his household and the elders of Egypt go out? He went out to fulfill the verse The wise shall inherit honor (Prov. 3:35).

Everything fortunate that occurred to Joseph likewise happened to Zion. It is written of Joseph: And Joseph was of beautiful form and fair to look upon (Gen. 39:6), and of Zion it is stated: Fair in situation, the joy of the whole earth (Ps. 48:3). Concerning Joseph it is written: He is not greater in this house than I (Gen. 39:9), and of Zion: The glory of this latter house shall be greater than that of the former (Hag. 2:9). Joseph: The Lord was with him (Gen. 39:2), Zion: And My eyes and My heart shall be there (II Chron. 7:15). Joseph: And showed kindness unto him (Gen. 39:21), Zion: I remember for thee the affection of thy youth (Jer. 2:2). Joseph: And he shaved himself and changed his raiment (Gen. 41:14), Zion: And the Lord shall have washed away (Isa. 44:4). Joseph: Only in the throne will I be greater than thou (Gen. 41:40), Zion: At that time they shall call Jerusalem the throne of the Lord (Jer. 3:17). Joseph: And arrayed him in vestures of fine linen (Gen. 41:42), Zion: Awake, awake, put on thy strength, O Zion; put on thy beautiful garments (Isa. 52:1). Joseph: He sent Judah before him (Gen. 46:29), Zion: Behold, I send My messenger (Mal. 3:1).

And he fell on his neck. And why didn't Yaakov kiss Yosef? Because he was saying Kriat Shema (recitation of the shema prayer) at that same time.