"Come near, I pray you, that I may feel you, my son" (Genesis 27:21). And why did Isaac wish to feel him? Rather, since he had said, "Because the LORD your God brought it to me" (Genesis 27:20), Isaac said: It is not the way of Esau that the name of Heaven should be ready in his mouth. And the matter became doubtful to him; therefore he said, "Come near, I pray you, that I may feel you." Immediately Jacob recoiled and shuddered, and his heart became like wax. And the Holy One, blessed be He, sent him Michael and Gabriel, and the two of them grasped him by his two arms, and the Holy One, blessed be He, was behind him. And this is what the prophet said: "Fear not, for I am with you; be not dismayed, for I am your God" and so forth (Isaiah 41:10). "I have strengthened you" — with Michael; "I have helped you" — with Gabriel; "I have upheld you with the right hand of My righteousness" — this is the Holy One, blessed be He.
Isaac Reaches to Touch Jacob and Angels Steady His Trembling Arms
Midrash Aggadah, Genesis 27:21
גשה נא ואמשך בני. ומפני מה רצה יצחק למששו, אלא כיון שאמר כי הקרה ה' אלהיך, אמר יצחק אין דרכו של עשו שיהיה שם שמים שגור בפיו, ונסתפק לו הדבר לפיכך אמר גשה נא ואמשך, מיד יעקב נרתע ונזדעזע, והיה לבו כשעוה, ושלח לו הקב"ה מיכאל וגבריאל ותפשו שניהם בשתי זרועותיו, והקב"ה מאחריו, וזה שאמר הנביא אל תירא כי (אתך) [עמך] אנכי ואל תשתע כי אני אלהיך וגו' (ישעי' מא י), אמצתיך במיכאל, עזרתיך בגבריאל, תמכתיך בימין צדקי, זה הקב"ה: