The Holy Spirit commanded Peter to go with the non-Jewish men.

Acts 10:17-23a

17 While Peter was trying to understand what that vision meant, the men who had been sent by Cornelius {whom Cornelius had sent} arrived in Joppa. They asked people how to get to Simon’s house. So they found his house and were standing outside the gate. 18 They called and were asking if a man named Simon, whose other name was Peter, was staying there. 19 While Peter was still trying to understand what the vision meant, God’s Spirit said to him, “Three men are here who want to see you. 20 So get up and go downstairs and go with them! Do not think that you (sg) should not go with them because of their being non-Jews, because I have sent them here!” 21 So Peter went down to the men and said to them, “Greetings! I am the man you are looking for. Why have you come?” 22 One of them replied, “Cornelius, who is a Roman army officer, sent us here. He is a righteous man who worships God, and all of the Jewish people [HYP] who know about him say that he is a very good man. An angel ◄who was sent from God/whom God sent► said to him, ‘Tell some men to go to Joppa to see Simon Peter and bring him here, so that you (sg) can hear what he has to say.’ ” 23 So Peter said that he would go with them, and then he invited them into the house and told them that they could stay there that night.