Midrasch zu Jirmejahu 31:8

When Joseph saw that they were extremely embarrassed, he said to them: Come near to me, I pray you (Gen. 45:4). As each one of them approached, he kissed him and wept with him, as is said: And he kissed all his brethren, and wept upon them (ibid., v. 15). Just as Joseph comforted his brothers while they were weeping, so the Holy One, blessed be He, will redeem Israel while she weeps, as it is said: They shall come with weeping, and with supplications will I lead them; I will cause them to walk by rivers of waters, in a straight way wherein they shall not stumble (Jer. 31:9).

"God restores my soul" This means that Israel said, God restores my soul with Torah, as it says, "The Torah of Adonai is perfect, restoring the soul" (Psalms 19:18). "God leads me in the paths of mercy"--this means, to manna, to quail, to waters of the well, to clouds of glory; and these are given to me not because I have earned them but "for the sake of God's name." Even as I walk through the valley of the shadow of death, though I walk on the parched land of the wilderness, "I will fear no evil for You are with me," as it says, "Adonai went before them by day in a pillar of cloud (Exodus 13:21). Your rod and your staff, they comfort me: the rod is Your chastisements; the staff, Your Torah.