מדרש על תהילים 32:2

This you find to be so in the case of Jacob, of whom it is written: Jacob was a perfect man, dwelling in tents (Gen. 25:27). A perfect man in the performance of good deeds; dwelling in tents devoting himself to the Torah; and full of precepts—camps of angels were assigned to watch over him, as it is said: And Jacob went on his way, and the angels of God met him. And Jacob said when he saw them: “This is God’s camp.” And he called the name of that place Mahanaim (Gen. 32:2–3). It says also: And behold, the angels of God ascending and descending on it. And behold, the Lord stood beside him and said: “… And behold, I am with thee, and will keep thee” (ibid. 28:13–15).