Jacob struggles with the angel
Painting by Rembrandt

Source: Wikipedia

In the painting, a golden haired effeminate winged angel in white looks down at Jacob as she supports his head.  The angel's left leg is raised, pressed against Jacob's left side.  The angel's right hand reaches down (presumably toward his left thigh). 

Esau is off balance, only the angel keeping him from falling.  He is wearing a red tunic belted at the waist.  He has a full head of brown hair and a full brown beard and mustache.  His face is turned toward the angel, and he appears to be in pain.

The scene appears to be the moment when the angel overpowers Jacob, touching his thigh and causing the sinew to shrink, crippling Jacob.