Commentary for Genesis 29:1

וישא יעקב רגליו THEN JACOB LIFTED UP HIS FEET —As soon as he received the good tidings that he was assured of God’s protection his heart lifted up his feet and he walked swiftly. Thus is it explained in (Genesis Rabbah 70:8).

וישא יעקב רגליו, seeing that he had received assurances from G’d during his nocturnal dream, he now proceeded encouraged, joyfully, something that the Torah describes with the words “he lifted up his feet.”

וישא יעקב רגליו, when a person proceeds on a journey voluntarily, at his own initiative, this is described in terms of his personality carrying, lifting his feet. When the initiative is not his, even when he does not march involuntarily, under orders against his will, his feet are described as carrying him, i.e. his personality, the rest of his body. At this point of Yaakov’s journey, he belonged to the category of traveler mentioned first. We find the other category mentioned in Isaiah 23,7 יובילוה רגליה, “would her feet carry her?”