Yes. At times. That is why we need to rightly divide the Word of God. Just was the Bible records the words of Satan in the fall, it also records errors made by the saints, as well. Yes, Peter made mistakes. Paul even had to chew out Peter at one point when Peter fell from grace and reverted back into legalism.
"When Peter came to Antioch, I opposed him to his face, because he was clearly in the wrong. Before certain men came from James, he used to eat with the Gentiles. But when they arrived, he began to draw back and separate himself from the Gentiles because he was afraid of those who belonged to the circumcision group. The other Jews joined him in his hypocrisy, so that by their hypocrisy even Barnabas was led astray." Galatians 2:11-13 niv
The man they picked is never heard of again. God did not tell them to draw lot's on the issue. They took it upon themselves to do so.
From Acts 1
23~~ And they appointed two, Joseph called Barsabas, who was surnamed Justus, and Matthias.
{Note: NO! God the Holy Spirit gives spiritual gifts. The gifts are not ever given to someone that man chooses (or even a group of men). The Exodus generation made a similar type error in trying to replace God's choice for leader.}
24-25~~ And they prayed {example of a useless prayer}, and said, "Thou, Lord, Who knows the hearts of all men, show which of these two Thou has chosen, 25~~ that he may take part of this ministry and apostle-ship, from which Judas by transgression fell, that he might go to his own place?"
26~~ And they gave forth their lots {they voted!}; and the lot fell on Matthias. And he was numbered with the eleven apostles.
{Note: Apostleship was a temporary spiritual gift. It was not awarded by God based on a vote by men!}
God chose Paul. Men did not vote for him.
I will try.... And please bear with me, as I feel ALL of the following ties together and is linked to the necessity of water baptism during
Peters ministry ONLY.
Now regarding the mistakes.
Luk 24:44-48 KJV
(44) And he said unto them, These are the words which I spake unto you, while I was yet with you, that all things must be fulfilled, which were written in the law of Moses, and in the prophets, and in the psalms, concerning me.
(45) Then opened he their understanding, that they might understand the scriptures,
(46) And said unto them, Thus it is written, and thus it behoved Christ to suffer, and to rise from the dead the third day:
(47) And that repentance and remission of sins should be preached in his name among all nations, beginning at Jerusalem.
(48) And ye are witnesses of these things.
Christ, personally taught the 11 out of the scriptures, Luke says He even opened their understanding.
Joh 20:21 Then said Jesus to them again, Peace be unto you: as my Father hath sent me, even so send I you.
.Peter was sent BY Jesus, just as the Father sent Christ. I think he (Peter) knew exactly what to do
Act 1:1-3 KJV
(1) The former treatise have I made, O Theophilus, of all that Jesus began both to do and teach,
(2) Until the day in which he was taken up, after that he through the Holy Ghost had given commandments unto the apostles whom he had chosen:
(3) To whom also he shewed himself alive after his passion by many infallible proofs, being seen of them forty days, and speaking of the things pertaining to the kingdom of God:
...One is called an Apostle because one is sent (usually with a mission). The Apostles of the kingdom were sent BY Jesus (who instructed them out of the scriptures for 40 days) and were given commandments FROM the Holy Spirit AFTER Christs ascension. This group of Apostles did not include Paul, as Paul was not
seen of them forty days.
Note: there are to be 12 Apostles judging the twelve tribes of Israel during the generation when
Mat 19:28 And Jesus said unto them, Verily I say unto you, That ye which have followed me, in the regeneration when the Son of man shall sit in the throne of his glory, ye also shall sit upon twelve thrones, judging the twelve tribes of Israel.
the Son of man shall sit in the throne of his glory. Not 11, but 12!!
So Peter, and the 10 KNEW they must fill the spot (the message of Grace given to Paul was still a mystery at this time).
Act 1:22 Beginning from the baptism of John, unto that same day that he was taken up from us, must one be ordained to be a witness with us of his resurrection.
.Notice the rule to be an Apostle here, you had to be there from the beginning (the baptism of John) UNTIL the ascension. They appointed TWO people who fit this profile. Paul had NOT been with them all that time so he could not be a witnesses of these things (Luk 24:44-48).
One of the two must be choosen
So the 11 decided to cast lots. This was a very Jewish thing to do. Barnes put together a good summary regarding this: I think Ill plagiarize.
And they gave forth their lots - Some have supposed that this means they voted. But to this interpretation there are insuperable objections:
1. The word lots, κλήρους klērous, is not used to express votes, or suffrage.
2. The expression the lot fell upon is not consistent with the notion of voting. It is commonly expressive of casting lots.
3. Casting lots was common among the Jews on important and difficult occasions, and it was natural that the apostles should resort to it in this.
Thus, David divided the priests by lot, 1Ch_24:5. The land of Canaan was divided by lot, Num_26:55; Jos. 15; Jos_16:1-10; Jos. 17; etc. Jonathan, son of Saul, was detected as having violated his fathers command. and as bringing calamity on the Israelites by lot, 1Sa_14:41-42. Achan was detected by lot, Jos_7:16-18. In these instances the use of the lot was regarded as a solemn appeal to God for his direct interference in cases which they could not themselves decide. Pro_16:33, the lot is cast into the lap, but the whole disposing thereof is of the Lord. The choice of an apostle was an event of the same kind, and was regarded as a solemn appeal to God for his direction and guidance in a case which the apostles could not determine.
Hopefully we can see that casting lots is a way God uses to make His will known. Peter and the 11 were sent TO the circumcision; Paul and the 11 were sent to the un-circumcision. Two different groups; two different callings. I believe 11 Apostles were listed under Paul (just as Peter) to give the same validity to his gospel.
"On one occasion, while he was eating with them, he gave them this command: "Do not leave Jerusalem, but wait for the gift my Father promised, which you have heard me speak about. For John baptized with water, but in a few days you will be baptized with the Holy Spirit." Acts 1:4-5 niv
The time to baptize with water was over. Jesus told Peter it was. Just read my other post, again. I did give chapter and verse for all of it. I realize that if you have been dogmatically taught otherwise, that it may come as somewhat of a shock to you. Just as many teach that the Three Wise men met Jesus in the manger. Fact is, they did not find Jesus until he was about two years old! We have a good number of misconceptions because no one questions the traditions of men and do not search to see what the Scriptures actually teach.
"Then I remembered what the Lord had said: 'John baptized with (in) water, but you will be baptized with the Holy Spirit.' " Acts 11:16
Peter had totally forgotten what Jesus had told him back in Acts 1:5. He says that he forgot in chapter 11. It is right after he recalls the words of the Lord, that we no longer see water baptisms recorded in the Book of Acts. All water baptisms take place before Peter remembered.
As it pertains to the Gospel of the un-circumcision, I believe Peter did make mistakes. Paul was given this revelation, not Peter.
Paul did re-baptized people in Acts 19 (there were about 12 disciples)
Peter said the word had not changed since the baptism which John preached.
Act 10:37 That word, I say, ye know, which was published throughout all Judaea, and began from Galilee, after the baptism which John preached;
It is never recorded that Jesus Christ told Peter to STOP baptizing in water. The baptism WITH the Holy Spirit is a baptism of POWER. Water baptism WAS a baptism of repentance on
. Ready, who HAD COME and what they had done to Him (Acts 2). Today we are baptized BY the Holy Spirit into one body (the ONE baptism). Things that are different are not the same.
"At that hour of the night the jailer took them and washed their wounds; then immediately he and all his family were baptized." Acts 16:33 niv
How could the entire household be all immediately baptized in water? That only can happen with the Holy Spirit baptism!
"immediately" NASB
"immediately" Amplified Bible
"immediately" New King James Version
"immediately" American Standard Version
Grace and peace, GeneZ
Once I was at McDonalds and I was hungry; then I immediately ate.
Once I was hungry so I ate immediately.
Two possibilities for the jailor; He (and his family) was baptized right where he washed their wounds. OR immediately refers to without delay. i.e. as soon as possible.
Although i do agree Water baptism IS no longer necessary, It was required during the Acts period. Saying that Peter made mistakes regarding this Jewish tradition, is not really a valid argument.
Paul could have made a mistake too.

Thanks for taking the time to read my thoughts... I do enjoy reading your posts!! God Bless.