Acts 12:8

And the angel said unto him, Gird thyself, and bind on thy sandals. And so he did. And he saith unto him, Cast thy garment about thee, and follow me.

Cross-reference

Acts 27:23 describes an angel standing by Paul—parallel angelic visitation to an apostle in distress, offering reassurance and direction.

Acts 8:26 has an angel directing Philip—similar to the angel here giving Peter specific commands. Both show divine guidance through angels.