What was the relationship between Rachel and Joseph, son of Jacob?

Rachel was the mother of Joseph. She waited many years for him, and when she named him she asked the Lord for another son. Genesis 30:22-24

What the Bible says

Genesis 30:23

And she conceived, and bore a son, saying: God hath taken away my reproach.

Genesis 30:24

And she called his name Joseph, saying: The Lord give me also another son.

Douay-Rheims Bible (Challoner revision), public domain.