Achilles -- Jacob grabbed Esau's heel, G25:26, and Pharez breached Zerah, G38 -- both stories saying FIGURATIVELY how the 2nd-born will succeed, IAW the plain language of the NT.

Gen3:15 And I will put enmity between thee and the woman, and between thy [serpent] seed and her seed; it shall bruise thy head, and thou shalt bruise his heel.