So in Genesis 33:4, Esau behaves in a way that is echoed by the Father in Luke 15, in their response to the returning (wayward) son - Gen 33 it's Jacob coming home, Luke 15 it's the younger brother, the prodigal.
The connection in the LXX (the greek translation of the Old Testament) to the greek in Luke 15 is quite marked - both contain this exact phrase: ἐπὶ τὸν τράχηλον αὐτοῦ καὶ κατεφίλησεν αὐτὸν.
So the Pharisees (the elder brother in the parable) refuse to do what Esau did (and what the father in the parable does) in welcoming the returning repentant one home. The Pharisees despised Esau and his descendants (the Edomites) yet Esau's actions were more in line with those of Jesus than theirs were.
It's the 2nd time in Luke a despised outsider has acted more righteously than the in-crowd (the Samaritan in Lk. 10). And Jacob then tells Esau that his face is like the face of God - the face of one who welcomes in mercy.
