Midrasch zu Jirmejahu 42:11

What did the Holy One, blessed be He, do? He sent an angel to him to deliver him, and to save him from the hand of Esau; and he appeared unto him like a man, as it is said, "And there wrestled a man with him until the breaking of the day" (Gen. 32:24). As soon as the dawn appeared, the angel said to him: Let me go, for the time has arrived when I must stand to sing and to chant praises before the Holy One, blessed be He. But Jacob did not wish to let him go. What did the angel do? He began to sing and to chant praises from the earth, || and when the angels (on high) heard the voice of the angel who was singing and praising from the earth, they said: Because of the honour of the righteous (one) do we hear the voice of the angel who is singing and praising from the earth; and concerning him the verse says, "From the uttermost part of the earth have we heard songs, glory to the righteous" (Isa. 24:16).