Genesis 49:33

And Jakob ceased to command his sons. And he gathered up his feet into the midst of the bed, and expired, and was gathered unto his people

AND HE EXPIRED, AND WAS GATHERED TO HIS PEOPLE. But the word “death” is not mentioned in his case. Our Rabbis therefore said, “Jacob, our father, did not die.” This is the language of Rashi.
Now according to this opinion of our Rabbis, the difficulty arises: Now Jacob applied the term “death” to himself, as it is written, Behold, I die, but G-d shall be with you! Now perhaps he did not know it himself, or it may be that he did not wish to pay honor to himself. Similarly, with respect to the verse, And when Joseph’s brethren saw that their father was dead, we must say that to them he was dead, or it may be that they did not at all know of this. Now the purport of this Midrash [which states that “Jacob, our father, did not die],” is that the souls of the righteous are bound in the bind of life with the Eternal, and his soul covereth him all the day, “wearing a scarlet garment” so that she not be stripped naked, as Jacob’s [soul was privileged to do continually], or which she dons at certain occasions [as do the souls of lesser righteous individuals]. This matter will be understood in the light of what is told in Tractate Shabbath and Tractate Kethuboth..

Thus concludes the book Bereshith, containing the story of the accounts of the patriarchs. It tells of what has occurred and of new things that will occur even before they spring up in the hearts of people.
And to the Creator of all beginnings,
Him that rideth the skies,
Many praises and myriads of thanksgivings.
By Him actions and causes are weighed;
He uncovereth deep things and lofty opinions,
And brings the thoughts to light.
It is He Who leadeth me in the path of righteousness,
In the midst of the path of justice,
Who vouchsafest benefits unto the undeserving.”

ויאסוף רגליו, he drew his legs back into the bed, seeing that all the while he had pronounced the blessings he had been sitting on the edge of the bed as we know from 48,2 וישב על המטה, “he sat up on the bed.” Also while blessing Joseph’s sons he had remained sitting upright, as we know from 48,12 where Joseph is described as pulling back his sons from between Yaakov’s knees. G’d‘s fondness for Yaakov is emphasised by the Torah when it reports that Yaakov possessed this strength until he had completed the last words of his blessings and his instructions.

ויאסוף את רגליו. As long as he had still been speaking to his sons he felt strong enough to carry on sitting on the bed with his feet on the floor. As soon as he had finished, he pulled up his feet to the bed and lay down.

ויגוע, an expression used with the righteous, describing a painless death. Some (Taanit 5) explain the fact that the Torah did not add the word וימת, “he died,” which is customary, as a hint that Yaakov did not actually die in the accepted sense of the word. Although the Torah specifically mentioned that Moses died, i.e. וימת משה, (Deut. 34,5) the fact is that he did not die. (Sotah 13). The fact is that the righteous do not die in the accepted sense of the word.

ויאסף אל עמיו, I have explained the meaning of this expression on 25,8.

ויאסוף רגליו אל המיטה, “he gathered his feet into the bed;” he had previously gotten up in bed in order to give a blessing to Joseph’s sons as we know from Genesis 48,2, where he was described as summoning his strength and sitting upright on his bed. As soon as he had completed his blessings he made ready to die.