There were four "Herods" who ruled in first century AD--Herod the Great (who attempted to kill Jesus at birth), Antipus (who killed John the Baptist), Agrippa I (the Herod spoken of in this chapter), and Agrippa II (the Herod Paul gave testimony to in Acts 26). The Herods were political survivors who continued to "rule" even as the Romans had territorial control of their kingdom.
Each of the Herods did all they could to destroy the Messianic movement and Agrippa was not an exception. The grandson of Herod the Great did all he could to destroy Peter and John, arresting them at Passover and scheduling their executions for right after the feast. However, in the end Peter and John were rescued by God again and Agrippa's own vanity destroyed him and he died an awful death.
The lesson here is God is always in charge. He does everything as the Greeks say, "prohorizo" or before the horizon. In fact, Paul discusses this principle in length in Ephesians 1, concluding in the ninth verse, "[God] made known to us the mystery of His will, according to the good pleasure of His will."
Jesus had made a promise to Peter about his death (see John 21.18) and it was not to be at the hand of Agrippa. Despite all of the precautions Agrippa put in place he could not undo the will of God. Peter was freed and Agrippa ends up gouging himself with food and is eaten up by worms.
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