Arise therefore, and get thee down, and go with them, doubting nothing: for I have sent them.

People's New Testament

10:17-23 While Peter doubted. Doubted, not what the Lord had said, but what was the special object. It was while he was thinking over the matter that the messenger came. The Spirit told him their purpose and what he must do. He, therefore, called in the men, took care of them till the next day, and then returned with them. Six Jewish brethren from Joppa went with him (Ac 11:12).

Matthew Henry's Concise Commentary

10:19-33 When we see our call clear to any service, we should not be perplexed with doubts and scruples arising from prejudices or former ideas. Cornelius had called together his friends, to partake with him of the heavenly wisdom he expected from Peter. We should not covet to eat our spiritual morsels alone. It ought to be both given and taken as kindness and respect to our kindred and friends, to invite them to join us in religious exercises. Cornelius declared the direction God gave him to send for Peter. We are right in our aims in attending a gospel ministry, when we do it with regard to the Divine appointment requiring us to make use of that ordinance. How seldom ministers are called to speak to such companies, however small, in which it may be said that they are all present in the sight of God, to hear all things that are commanded of God! But these were ready to hear what Peter was commanded of God to say.