So Esau returned that day on his way unto Seir.

Wesley's Notes

33:16 And Jacob journeyed to Succoth - Having in a friendly manner parted with Esau, who was gone to his own country, he comes to a place, where he rested, set up booths for his cattle, and other conveniences for himself and family. The place was afterwards known by the name of Succoth, a city in the tribe of Gad, on the other side Jordan; it signifies booths: that when his posterity afterwards dwelt in houses of stone, they might remember that the Syrian ready to perish was their father, who was glad of booths, Deu 26:5.

Matthew Henry's Concise Commentary

33:1-16 Jacob, having by prayer committed his case to God, went on his way. Come what will, nothing can come amiss to him whose heart is fixed, trusting in God. Jacob bowed to Esau. A humble, submissive behaviour goes far towards turning away wrath. Esau embraced Jacob. God has the hearts of all men in his hands, and can turn them when and how he pleases. It is not in vain to trust in God, and to call upon him in the day of trouble. And when a man's ways please the Lord he maketh even his enemies to be at peace with him. Esau receives Jacob as a brother, and much tenderness passes between them. Esau asks, Who are those with thee? To this common question, Jacob spoke like himself, like a man whose eyes are ever directed towards the Lord. Jacob urged Esau, though his fear was over, and he took his present. It is well when men's religion makes them generous, free-hearted, and open-handed. But Jacob declined Esau's offer to accompany him. It is not desirable to be too intimate with superior ungodly relations, who will expect us to join in their vanities, or at least to wink at them, though they blame, and perhaps mock at, our religion. Such will either be a snare to us, or offended with us. We shall venture the loss of all things, rather than endanger our souls, if we know their value; rather than renounce Christ, if we truly love him. And let Jacob's care and tender attention to his family and flocks remind us of the good Shepherd of our souls, who gathers the lambs with his arm, and carries them in his bosom, and gently leads those that are with young, Isa 40:11. As parents, teachers or pastors, we should all follow his example.

Matthew Henry's Whole Bible Commentary

Verses 16-20

Here, 1. Jacob comes to Succoth. Having in a friendly manner parted with Esau, who had gone to his own country (v. 16), he comes to a place where, it should seem, he rested for some time, set up booths for his cattle, and other conveniences for himself and family. The place was afterwards known by the name of Succoth, a city in the tribe of Gad, on the other side Jordan (it signifies booths), that when his posterity afterwards dwelt in houses of stone, they might remember that the Syrian ready to perish was their father, who was glad of booths (Deu. 26:5); such was the rock whence they were hewn. 2. He comes to Shechem; we read it, to Shalem, a city of Shechem; the critics generally incline to read it appellatively: he came safely, or in peace, to the city of Shechem. After a perilous journey, in which he had met with many difficulties, he came safely, at last, into Canaan. Note, Diseases and dangers should teach us how to value health and safety, and should help to enlarge our hearts in thankfulness, when our going out and coming in have been signally preserved. Here, (1.) He buys a field, v. 19. Though the land of Canaan was his by promise, yet, the time for taking possession not having yet come, he is content to pay for his own, to prevent disputes with the present occupants. Note, Dominion is not founded in grace. Those that have heaven on free-cost must not expect to have earth so. (2.) He builds an altar, v. 20. [1.] In thankfulness to God, for the good hand of his providence over him. He did not content himself with verbal acknowledgments of God's favour to him, but made real ones: [2.] That he might keep up religion, and the worship of God, in his family. Note, Where we have a tent God must have an altar, where we have a house he must have a church in it. He dedicated this altar, where we have a house he must have a church in it. He dedicated this altar to the honour of El-elohe-Israel-God, the God of Israel, to the honour of God, in general, the only living and true God, the best of beings and first of causes; and to the honour of the God of Israel, as a God in covenant with him. Note, In our worship of God we must be guided and governed by the joint-discoveries both of natural and revealed religion. God had lately called him by the name of Israel, and now he calls God the God of Israel; though he is styled a prince with God, God shall still be a prince with him, his Lord and his God. Note, Our honours then become honours indeed to us when they are consecrated to God's honour; Israel's God is Israel's glory.