Context Summary

Acts 10:9–23 occurs as Peter is in Joppa, after having healed a paralyzed man in nearby Lydda and raising Tabitha from the dead in Joppa (Acts 9:32–43). Peter doesn't know that a Roman centurion who worships the Jewish God is sending three men to bring Peter to Caesarea. The centurion wished to learn what God has planned for him, which he will find is to be saved in Jesus' name. First, God makes Peter understand that Jesus' offer of salvation is as available for Gentiles as it is for Jews. 

Hebrews 12:16

16 See that no one is sexually immoral, or is godless like Esau, who for a single meal sold his inheritance rights as the oldest son.