Exodus 21:2-6 (NKJV)
2 If you buy a Hebrew servant, he shall serve six years; and in the seventh he shall go out free and pay nothing. 3 If he comes in by himself, he shall go out by himself; if he comes in married, then his wife shall go out with him. 4 If his master has given him a wife, and she has borne him sons or daughters, the wife and her children shall be her master’s, and he shall go out by himself. 5 But if the servant plainly says, ‘I love my master, my wife, and my children; I will not go out free,’ 6 then his master shall bring him to the judges. He shall also bring him to the door, or to the doorpost, and his master shall pierce his ear with an awl; and he shall serve him forever.
Jacob’s case seems to go against this as he was able to go out with his family and children.