זוהר בראשית — דף רכט ע”א

Regarding Jacob it is written "he expired" and not "he died", for the righteous do not die - they only expire. The body expires but the soul ascends. Rabbi Shimon says: the soul of the righteous - at the moment of its departure - sees the Divine Presence and rejoices. One who lives in faith dies in joy. Jacob exemplifies the righteous man whose passing is joyful, as the soul rises to its supernal place.