מדרש על תהילים 32:4

R. Hoshaya declared: Happy is the individual born of woman who has the King of Kings as His attendant, guarding Him and sending angels as His messengers, as it is said: And Jacob sent messengers before him to Esau (ibid. 32:4). It likewise says: The angel who hath redeemed me from all evil (ibid. 48:16). Hence Scripture says: He that walketh in his integrity as a just man, happy are his children after him (Prov. 20:7)