If you ripped off your brother you can change and make up with him. That is exactly what we see in our Perasha. Yaacov Avinu had a reputation for dealing with people in a crooked way. Even his name meant crooked. The Navi used the name Yaacov to describe brothers taking advantage of each other.
Every brother is crooked.
The night before he confronted Aisav he had an inner battle. We read that in the middle of the night Yaacov was alone. A mysterious man came and wrestled with him the whole night. When the morning came the man said that he needed to go. Yaacov would not let him go until he blessed him.