Paul said that he obeyed what Jesus commanded him from heaven.

Acts 26:19-20

19 “So, King Agrippa, I fully obeyed [LIT] what the Lord Jesus told me to do when he spoke to me from heaven. 20 First, I preached to the Jews in Damascus. Then I preached to the Jews in Jerusalem and throughout the rest of Judea province. After that, I also preached to non-Jews. I preached that they must turn away from their sinful behavior and turn their lives over to God. I told them that they must do things that would show that they had truly stopped their sinful behavior.”