Midrasz do Rodzaju 45:4

R. Simeon the son of Lakish stated: To what may this situation be compared? To two who are wrestling. When one of them realizes that he is about to be defeated, he says to himself: “He is going to defeat me, and I will be disgraced in the sight of all.” What does he do? He kisses his opponent’s hand and the anger of the stronger wrestler is assuaged. Similarly, when Joseph saw that Judah’s anger was mounting, he was afraid that he would be humiliated before the Egyptians, and so he called out immediately: I am Joseph, your brother (Gen. 45:4).

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).