In Numbers 22:24, the angel blocks Balaam's path — the context for the donkey's rebuke Peter references.

Numbers 22:5 introduces Balaam being hired by Balak, providing the background for the donkey rebuke Peter references.

Numbers 22:23 describes the donkey seeing the angel and turning aside, the immediate prelude to the speaking donkey Peter mentions.

Numbers 22:23 again — the angel's appearance that caused the donkey's action is key to understanding the rebuke of Balaam's madness.

In Numbers 22:30, the donkey speaks to Balaam—the very event referenced here as a rebuke.