Acts of the Apostles 10:7-9, 23-24

As soon as the angel was gone, Cornelius called two of his household servants and a devout soldier, one of his personal attendants. He told them what had happened and sent them off to Joppa. The next day as Cornelius’s messengers were nearing the town, Peter went up on the flat roof to pray. It was about noon

So Peter invited the men to stay for the night. The next day he went with them, accompanied by some of the brothers from Joppa. They arrived in Caesarea the following day. Cornelius was waiting for them and had called together his relatives and close friends.