In the previous aliyah the angel touched Yakov's sciatic nerve and caused Yakov to limp. In this third aliyah the Torah tells us that we don't eat that same area of otherwise kosher animals (like sirloin steak).
Yakov meets Esav, and Esav kisses him and they weep. The Midrash says that Esav actually tried to bite Yakov's neck, but it miraculously turned to marble and Esav's teeth cracked so he cried, and the bite hurt Yakov somewhat also, so he also cried.
