John Gill Commentary Acts 10:20

"But arise, and get thee down, and go with them, nothing doubting: for I have sent them." — Acts 10:20 (ASV)

Arise, therefore, and get you down
From the top of the house where he was:

and go with them ;
the three men, to Caesarea

doubting nothing ;
whether it is right or wrong, lawful or unlawful, to go with them, because not Jews, but uncircumcised Gentiles, laying aside all such Jewish scruples:

for I have sent them :
the Spirit of God is said to do what Cornelius did at his instigation and direction, signified by an angel he sent to him, (Acts 10:5Acts 10:8) .