Acts 10:23

Then called he them in
Into Simon's house; not "into his own house", as the Ethiopic version adds; as yet they stood without, before the gate of the house; he took them in, no doubt, with the leave of Simon, his host, and set provisions before them, and lodged them that night:

and in the morning Peter went away with them;
the next morning he set out with them towards Caesarea:

and certain brethren from Joppa accompanied him;
there were six of them, as appears from ( Acts 11:12 ) these went with him, not only to bear him company, and out of respect to him; but to be witnesses of what might be seen, heard, said, or done, and for Peter, should there be any occasion for it, as there afterwards was.