Note 3 at Acts 4:19: Some people have mistakenly taken Peter's statements in 1 Peter 2:13-17 about submitting yourself "to every ordinance of man" and applied them in a way that would have made Peter in violation of his own teaching in this instance. However, Peter and John's actions here clarify the true meaning of his later statements.

There is a difference between submission and obedience. Peter and John did not obey any command that went against God's laws, but they did submit themselves to the authority of these Jewish rulers. We are never to obey anyone or any law that would make us disobey God. Peter asked these rulers to judge themselves if that was right, knowing that even these corrupt rulers would not expect them to follow their orders if the disciples had a direct command from God to the contrary.