He ordered the centurion to keep Paul under guard, but to allow him some freedom and permit his friends to minister to his needs.
KJV
And he commanded a centurion to keep Paul, and to let [him] have liberty, and that he should forbid none of his acquaintance to minister or come unto him.
ASV
And he gave order to the centurion that he should be kept in charge, and should have indulgence; and not to forbid any of his friends to minister unto him.