Charles Ellicott Commentary Genesis 32:31

"And the sun rose upon him as he passed over Penuel, and he limped upon his thigh." — Genesis 32:31 (ASV)

As he passed over Pemiel.—Rather, as he passed Penuel. It was the place where he had wrestled, and as soon as the angel left him he proceeded onwards to rejoin his wives. It appears, from what is here said, that it was not till he tried to walk that he found out that he was lame. As his sinews grew cool, the injury to his hip-joint showed itself.