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From: Acts 5:17-26
The Apostles Are Arrested and Miraculously Freed
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[17] But the high priest rose up and all who were with him, that is, the party of the Sadducees, and filled with jealousy [18] they arrested the Apostles and put them in the common prison. [19] But at night an angel of the Lord opened the prison doors and brought them out and said, " [20] Go and stand in the temple and speak to the people all the words of this Life." [21] And when they heard this, they entered the temple at daybreak and taught.
Now the high priest came and those who were with him and called together the council and all the senate of Israel, and sent (officers) to the prison to have them brought. [22] But when the officers came, they did not find them in the prison and they returned and reported, [23] "We found the prison securely locked and the sentries standing at the doors, but when we opened it we found no one inside." [24] Now when the captain of the temple and the chief priests heard these words, they were much perplexed about them, wondering what this would come to. [25] And some one came and told them, "The men whom you put in prison are standing in the temple and teaching the people."
The Apostles Before the Sanhedrin
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[26] Then the captain with the officers went and brought them, but without violence, for they were afraid of being stoned by the people.
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Commentary:
19. In Sacred Scripture we meet angels as messengers of God and also as mediators, guardians and ministers of divine justice. Abraham sent his servant on a mission to his kindred and told him, "The Lord will send his angel before you and prosper your way" (Genesis 24:7, 40). Tobit, Lot and his family, Daniel and his companions, Judith, etc., also experienced the help of angels. The Psalms refer to trust in the angels (cf. Psalm 34:8; 91:11-13) and the continuous help they render men in obedience to God's command.
This episode of the freeing of the Apostles is one of the examples the St. Pius V Catechism gives to illustrate "the countless benefits which the Lord distributes among men through angels, His interpreters and ministers, sent only in isolated cases but appointed from our birth to watch over us, and constituted for the salvation of every individual person" (IV, 9, 6).
This means, therefore, that the angels should have a place in a Christian's personal piety: "I ask our Lord that, during our stay on this earth of ours, we may never be parted from our Divine Traveling Companion. To ensure this, let us also become firmer friends of the Holy Guardian Angels. We all need a lot of company, company from Heaven and company on earth. Have great devotion to the Holy Angels" (St J. Escriva, Friends of God, 315).