Midras Mazmur 78:67: Seder Olam Rabbah, Shemot Rabbah, Bereshit Rabbah & Sifrei Devarim

Eli led Israel for forty years, and the day Eli died, he forsook his tabernacle, as it is said, “He rejected the tent of Joseph” (Psalm 78:67), and “He gave His strength into captivity” (Psalm 78:61). And the Ark of the Lord was in the field of the Philistines for seven months. The Philistines called and said (1 Samuel 6:1-2). The men of Kiriath-Jearim came and took it, and it was from the day the Ark rested (1 Samuel 7:2). Subtract from these seven years the time David reigned in Hebron over Judah, which remained there for thirteen years, and subtract eleven years for Samuel himself and two years for Samuel and Saul. It was from the day the Ark rested (1 Samuel 7:2). At the beginning of these twenty years, the Tabernacle was brought to Nob. Although the Ark of the Lord was in Kiriath-Jearim, in Nob they offered sacrifices for thirteen years and for seven years in Gibeon. At the end of twenty years, David moved the Ark of the Lord from Kiriath-Jearim to the house of Obed-Edom the Gittite, and the Ark of the Lord stayed in the house of Obed-Edom the Gittite for three months (2 Samuel 6:11). From this, we learn that Obed-Edom was blessed only because of the Ark of God.
Saul was one year into his reign (1 Samuel 13:1). Samuel said to Saul at the time of his anointing, “You will go down before me to Gilgal” (1 Samuel 10:8). Saul went down in the first year and struck the Ammonite king, and the Israelites anointed him. In the second year, he went down and did not keep his promise. Samuel said to Saul, “You have acted foolishly; you have not kept the commandment of the Lord” (1 Samuel 13:13). In that chapter, David was anointed, as it is said, “And the Lord said to Samuel, ‘How long will you mourn for Saul?’” (1 Samuel 16:1). Then Samuel took the horn of oil (1 Samuel 16:13), and he was twenty-nine years old. And Saul was hostile towards David (1 Samuel 18:9), and it is said, “The Spirit of the Lord departed from Saul” (1 Samuel 16:14). In that chapter, Nob was destroyed, and they came to Gibeon.
All the days of Samuel the Seer were only fifty-two years. It is also said, “Eli the priest sat on the seat” (1 Samuel 1:9), and she was bitter in soul (1 Samuel 1:10). In that chapter, he was appointed as a judge, and it is said, “And he judged Israel forty years” (1 Samuel 4:18). Thirteen years remained. Subtract one year for the intercalation, eleven years for Samuel, and one year for Saul. Thus, fifty-two years. Samuel died about four months before Saul's death, as it is said, “And the number of days that David stayed in the field of the Philistines was days and four months” (1 Samuel 27:7). And afterward, David inquired of the Lord, saying (1 Samuel 30:8). Ish-bosheth, the son of Saul, was forty years old when he began to reign (2 Samuel 2:10), and he reigned for two years in Jerusalem. The kingdom of Israel was therefore nullified for five and a half years. All the elders of Israel came to King Hebron (2 Samuel 5:3). In that chapter, David was anointed again, being thirty years old at his anointing (2 Samuel 5:4), and he reigned for forty years.

“The children of Israel ascended ḥamushim,” – they ascended armed.
“Moses took Joseph’s bones with him, as he had administered an oath to the children of Israel, saying: 'God will remember you; and you shall take my bones up with you from here’” (Exodus 13:19).
“Moses took Joseph’s bones.” In his regard the verse says: “The wise hearted will take commandments” (Proverbs 10:8), as all Israel were engaged with silver and gold and Moses was engaged with Joseph’s bones, as it is stated: “Moses took [Joseph’s] bones….” The Holy One blessed be He said to Moses: In your regard, “the wise hearted will take commandments” is fulfilled. Joseph was obligated to his father to bury him because he was his son, but you are not his son and not his grandson, and you were not obligated to involve yourself with him, and [yet] you [have involved yourself in] his burial. Likewise, I, who have no obligation to any creature, I will tend to you and bury you, as it is stated: “He buried him in the canyon” (Deuteronomy 34:6).
How did Moses know where Joseph was buried? Some say, Seraḥ daughter of Asher showed him, and he was buried in the Nile. What did Moses do?…¹⁸The midrash elsewhere (Tanḥuma (Warsaw ed.), Beshalaḥ 2) describes how Moses cast a shard, on which “arise bull” was written, into the Nile, in order to elevate Joseph’s remains from the riverbed. In Moses’s final blessing, Joseph was described as the “firstborn bull” (Deuteronomy 33:17). He called to him to rise to the surface, and not delay the exodus from Egypt. Some say he was buried in the palace, in the manner that kings are buried. The Egyptians crafted golden dogs through sorcery, so if a person would come there they would bark and their voices would carry throughout the land of Egypt, a distance of forty days travel. Moses silenced them, as it is stated: “But for all of the children of Israel no dog will extend its tongue” (Exodus 11:7). Moses began screaming: ‘Joseph, Joseph, the time has arrived for what you said: “The Lord will remember you” (Genesis 50:25).’ Immediately, the coffin began rocking and Moses took it, as it is stated: “Moses took Joseph’s bones.”
Joseph’s bones travelled with them in the wilderness for forty years. The Holy One blessed be He said to [Joseph]: ‘You said to your brothers: “I will sustain you” (Genesis 50:21) – by your life, you will die and your bones will travel with them in the wilderness for forty years,’ as it is stated: “There were men who were impure by reason of a corpse [nefesh adam]” (Numbers 9:6), and adam refers to none other than Joseph, as it is stated: “He pitched a tent among men [adam]” (Psalms 78:60), and it is written: “He abhorred the tent of Joseph” (Psalms 78:67).¹⁹Thus, the tent referred to earlier as “among men [adam]” was in the territory of Joseph, indicating that Joseph is referred to as adam. Consequently, it may be determined that the individuals to whom the verse in Numbers 9:6 refers were those who carried Joseph’s coffin. It was their complaint that led to God’s command that one who is impure from a corpse, and therefore cannot bring the paschal offering, may do so one month later as the ‘minor Pesaḥ.’ ‘Thanks to your bones they perform the minor Pesaḥ.’
“As he [Joseph] had administered an oath [hashbe’a hishbia] to the children of Israel” – why twice? It is because he took an oath that he had no grudge against them, and they took an oath to him that they held no grudge against him. Why [does the verse state:] “you shall take my bones up with you from here”? Rabbi Levi said: To what is this matter comparable? It is to a man who put his wine in the cellar. Thieves entered, took the barrel, and went and drank it. The owner of the wine came and found that they had stolen the barrel. He said to them: ‘You drank the wine, restore the barrel to its place.’ So too, Joseph’s brothers abducted him and sold him, and when [the time] came to take his leave from the world, he administered an oath to them. He said to them: ‘Please, my brothers, you abducted me alive from Shekhem, restore my bones to Shekhem.’ That is why it is stated: “The bones of Joseph that the children of Israel took out of Egypt, they buried in Shekhem” (Joshua 24:32).

“The Lord said to Moses: ‘Why are you crying out to Me? Speak to the children of Israel and have them set forth’” (Exodus 14:15).
“The Lord said to Moses: ‘Why are you crying out to Me?’” That is what is written: “They cried out and the Lord heard” (Psalms 34:18). Why is this so? Isaac bequeathed two inheritances to his two sons: He bequeathed the voice to Jacob, as it says: “The voice is the voice of Jacob” (Genesis 27:22). He bequeathed the hands to Esau, as it is stated: “But the hands are the hands of Esau” (Genesis 27:22). Esau was proud of his inheritance, as it is stated: “Edom said to him: 'You shalt not pass through me, lest with a sword [I will come out against you’]” (Numbers 20:18). Jacob was proud of his inheritance, as it is stated: “We cried out to the Lord, God of our fathers” (Deuteronomy 26:7). In the future, both of them will receive their rewards. Esau will receive his reward, as it is stated: “As My sword has drunk its fill in the heavens; behold, it will descend upon Edom” (Isaiah 34:5). Jacob will receive his reward, as it is stated: “The voice of gladness, the voice of joy” (Jeremiah 33:11). This is why it is written: “They cried out and the Lord heard,” because the children of Israel cried out at the sea, as it is stated: “The children of Israel cried out to the Lord” (Exodus 14:10). The Holy One blessed be He heard their prayer and said to Moses: “Why are you crying out to Me? I already heard their cry.” – “Speak to the children of Israel and have them set forth.”