It is taught in Midrash (Yalkut Shimoni, Tehillim 869), …the staff with which Jacob crossed the Jordan is identical with that which Judah gave to his daughter-in-law, Tamar. It is likewise the holy staff with which Moshe worked, and with which Aaron performed wonders before Pharaoh, and with which, finally, David slew the giant Goliath.

David left the staff to his descendants, and the Davidic kings used it as a sceptre until the destruction of the Temple, when it miraculously disappeared. When the Moshiach comes it will be given to him for a sceptre as a sign of his authority over all. 

(Art Print)