William Burkitt on Hebrews 11:21

Observe here, in dying Jacob, the frame and carriage of holy men in their dying and seasons, to bless their children, and worship their God. Jacob blessed Joseph and his two sons, laying hold on the covenant made with Abraham. It is no small privilege to be born of parents taken into visible covenant with God, and no small comfort, when God comes to take away such parents form us, to have the benefit of their blessings and prayers. Jacob, when dying, blessed both the sons of Joseph; and as he blessed them, so he worshipped God with religious worship, and in a devout manner, leaning upon the top of his staff.

Learn hence, That our addresses to God ought to be exceedingly reverent, both as to the frame of our souls, and also to the gesture of our bodies; we cannot always be affectionate in prayer, for affection depends upon the vigorous motions of the bodily spirits; but we should always be reverent and serious in prayer, otherwise it is no worship.

Learn farther, That where faith gives a willing mind, bodily infirmities shall be no let and hinderance from duty.