According to Acts, after receiving a vision from an angel instructing him to send for Peter in Joppa, Cornelius immediately assembled this small team to carry out the task. Cornelius called two of his own servants who lived in his home. He also chose a "devout" soldier from among his personal attendants. This soldier was noted for his own piety and religious devotion.

Cornelius explained everything that had happened in his vision to these three men before sending them on to Joppa.