Did Jacob really fight with God and prevail?

The Bible verses you are referring to are found in Genesis 32:24-26 and 29.

"And Jacob was left alone; and there wrestled a man with him until the breaking of the day. And when he saw that he prevailed not against him, he touched the hollow of his thigh; and the hollow of Jacob's thigh was out of joint, as he wrestled with him. And he said, Let me go, for the day breaks. And he said, I will not let thee go, except thou bless me. …And he blessed him there."

From the previous scriptures we learn Jacob earnestly prayed to God showing his deep reverence for God, his own humility, his request for help and his belief in His promises. Genesis 32:9-12 "And Jacob said, O God of my father Abraham, and God of my father Isaac, the LORD which said to me, Return to your country, and to your  kindred, and I will deal well with you: I am not worthy of the least of all the mercies, and of all the truth, which You have showed unto your servant; for with my staff I passed over this Jordan; and now I am become two bands. Deliver me, I pray Thee from the hand of my brother, from the hand of Esau: for I fear him, lest he will come and smite me, and the mother with the children. And Thou said, I will surely do you good, and make your seed as the sand of the sea, which cannot be numbered for multitude."

Jacob earnestly prayed. Apparently an angel of the Lord appeared to him in human form with some communication respecting his prayers and his fears. In his desire to have the divine blessing Jacob laid personal hold upon the angel, urging a blessing–Jacob's experience here reminds us of Jesus' experiences in the Garden of Gethsemane, when he wrestled with strong cryings and tears.  Luke 22:41-43 "And he was withdrawn from them about a stone's cast, and kneeled down, and prayed, Saying, Father, if Thou be willing, remove this cup from me: nevertheless not my will, but Thine be done. And there appeared an angel unto him from heaven, strengthening him." Our Lord agonized for long hours and finally got the blessing. And so it was also in Jacob's case: he urged, he pleaded, he wrestled with the Lord for the thing which he knew the Lord had promised.