"But Jewish tradition also sees Esav in another light. The famous Talmudic sage, Rabbi Shimon ben Gamliel, was known for the great care he took in fulfilling the Mitzvah of honoring one’s parents. Yet he stated: ’I served my father faithfully all my life, yet I did not even reach the smallest level of honor with which Esav served his father Isaac.’"
[http://www.aish.com/torahportion/appel/What_Makes_a_Criminal$.asp]