We learn at the end of Parsha Vayeitzei that Yaakov and his family were escorted by a group of Melachim to the border of Eretz Yisrael where a second group of melachim took over and escorted them inside Eretz Yisrael. Yaakov declared both groups to be Holy and named this border point Mahanaim for the two camps of Melachim.
It was about this second camp that our Parsha begins by informing that Yaakov sent Melachim (angels) — some render a translation of messengers:
“… ahead of him to Eisev to the land of Seir, to the field of Edom… Thus shall you say … to Eisev, so said your servant Yaakov: ‘Im-Lavan garti’ (I have sojourned with Lavan) …” (Sefer Breish’t, Perek 32, posukim 4 & 5). [...]