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The Talmud (Sanhedrin 47b) states that the decomposition of the body is a form of atonement – something the fully-righteous Jacob did not need.
Thus, in embalming his father, Joseph showed a lack of appreciation of his father’s greatness.
This is also considered spiritually beneficial for the soul.
After death, a person’s soul is naturally drawn to his body – the thing most familiar to it.
This opinion states further that because of Joseph’s sin of poor judgment, he was the first of the brothers to die (see Exodus 1:6), passing on at a youthful 110 (as compared to Levi’s 137).