Jacob, travelling towards Esau, meets angels.
If you recall, when Jacob was on the run from Esau (for grabbing Esau's birthright deceitfully) at the beginning he saw a ladder going up to heaven, and angels ascending and descending on it. It would appear from this that God was intimating to Jacob that this Deceiver and Supplanter was under God's protection because he would eventually become a man of faith and the progenitor of the twelve tribes of Israel. So now when Jacob is once again fearful of Esau, God sends him a group of angels to remind him again that he is still under God's protection (and that is purely by grace since he has done nothing to deserve that).
At the same time, God works on Esau's heart so that instead of killing his brother, he treats him kindly and sends him on his way. However in the end Esau/Edom would become bitter enemies of Israel, and would be judged severely. After that he meets the Angel of the LORD (a theophany of Christ) to learn a few lessons about God and about himself (which is a separate topic altogether).