Jacob and Esau had a mother, whose name was Rebecca.  God came to her and told her that she would have children and that they would be two nations (Genesis 25:23).

And it came to pass that she had two sons and named them Jacob and Esau. They were both twins and grew up, and Esau was a hunter on the other hand Jacob was a tent dweller. There fathers name was Isaac and Esau had the birthright because he was born first. And one time when Esau came back from hunting he was hungry and told Jacob to give him a bowl of lentils and Jacob told Esau to give him his birthright in exchange for the bowl of hardy stew and Esau gave him his birthright and Jacob gave him the bole of lentils (Genesis 25:29-34).

Their father was the son of Abraham and his name was Isaac.

Isaac’s eyes grew dim as he got older.  So, he could not see very good.

Isaac told Esau to hunt him some meat, but Rebecca told Jacob to dress in hairy clothes to deceive his father because Esau was a hairy man and Jacob was not.

Jacob did as his mother commanded and Jacob brought Isaac some food, which his mother prepared.  Isaac said that the voice sounded like Jacob.  However, he told Jacob to come closer so that he might touch him, and he said that the hands and the scent were Esau’s.

After being convinced it was Esau before him, Isaac blessed Jacob (Genesis 27:22).

However, when Esau had returned and found out what had happened, Rebecca told Jacob to hide out with her brother Laban until Esau’s anger died down and that is what he did.

While he was there for a while, he could no longer hide.  So, when he went to Esau.  However, he would stop and make camp before that and then continue.

During the night, he wrestled with an angel, and the angel told him that his name would no longer be called Jacob, but Israel (Genesis 32:22-31).

Jacob finally came to Esau and asked him to forgive him, and Esau did (Genesis 33:1-10).