The contents of verse 22 represent a summary of what has been said in the first paragraph of Chapter 10. The phrase highly respected by all the Jewish people may be translated as “all the Jewish people respect him very much” or “all the Jewish people think he is very good.”
The verb translated was told is a word which is always used of a divine revelation or saying. By one of God’s angels is literally “by a holy angel,” but “holy” is used in the sense of “belonging to God.” In the same way that “the holy people,” that is, “the saints,” is elsewhere translated as “God’s people,” it is permissible here to translate “a holy angel” as “God’s angel.”
The last sentence of verse 22 may cause a number of complications in languages which require direct discourse, particularly for the sequence he was told by one of God’s angels to invite you to his house. This becomes, in some instances, “one of God’s angels said to him, Send a message to Peter saying, Come to my house.” In such a rendering there are three levels of discourse, but this is often necessary when languages require direct discourse.
Quoted with permission from Newman, Barclay M. and Nida, Eugene A. A Handbook on The Acts of the Apostles. (UBS Handbook Series). New York: UBS, 1972. For this and other handbooks for translators see here .

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