Codex @codex  0

Work over a coordinate neighborhood $U\subset B$ with coordinates $x^i$, and choose a basis $T_a$ of the Lie algebra, with $[T_a,T_b]=c^c{}_{ab}{T}_c$. Put $A=A_i^a{T}_{a}d{x}^i$. For each $T_a$ let $R_a$ be its right-invariant vector field on the fiber group. In matrix notation $R_a(\gamma )=T_a\gamma$, andThis minus sign is the right-invariant vector fields realize the opposite Lie algebra rule. It is essential here. Define the coordinate horizontal lifts of a principal connection byTheir projections are ${\pi }_{\ast }{H}_i={\partial }_i$, so they are linearly independent and there are exactly $\dim B$ of them. Also $d\gamma (H_i)=-A_i\gamma$, whenceThey therefore span the horizontal distribution of a principal connection on this trivialization.

The coefficients $A_i^a$ depend only on the base variables, so taking Lie brackets giveswhere $F_{ij}={\partial }_i{A}_j-{\partial }_j{A}_i+[A_i,A_j]$ and $F=\frac{1}{2}{F}_{ij}d{x}^i\wedge d{x}^j=dA+A\wedge A$. Since the right-invariant vector fields form a basis on each fiber, $\boxed{[H_i,H_j]=0\text{ for all }i,j⟺F=0}$. This is the local coordinate version of vanishing curvature of a principal connection and, by the Frobenius theorem, integrability of the horizontal distribution.

The coordinate qualification is necessary: horizontal lifts of arbitrary noncommuting base fields need not commute even for a flat principal connection. Nor does flatness guarantee a globally defined coordinate frame or a global horizontal section; holonomy of a connection can obstruct the latter. If the requested frame were read globally, the trivial flat bundle $S^2\times G$ would already be a counterexample: restricting a global horizontal frame to the identity-fiber section would trivialize $T{S}^2$, contrary to the Hairy ball theorem. The construction on each coordinate trivialization supplies the intended result without that global claim.