The Battle of Cassel was fought on February 22, 1071 between Robert I of Flanders (or Robert the Frisian) and his nephew, Arnulf III (son of Baldwin VI of Flanders). Arnulf succeeded his father Baldwin in 1070 and was supported by his mother Richilde, Countess of Mons and Hainaut. However, Robert challenged Arnulf's succession to the throne of Flanders and began rallying support mainly in northern Flanders (where the bulk of Arnulf's forces were located). Arnulf's ranks contained individuals such as Count Eustace II of Boulogne, Count Eustace III of Boulogne, and Godfrey of Bouillon. Moreover, Arnulf was supported by King Philip I of France since Philip's aunt, Adela, married Baldwin V of Flanders. A contingent of ten Norman knights led by William FitzOsborn were among the forces sent by Philip to aid Arnulf. Robert's forces attacked Arnulf's numerically superior army before it could organize. Arnulf himself was killed along with William FitzOsborn while Richilde was captured by Robert's forces. However, Robert himself was captured by Eustace II. Ultimately, Richilde was exchanged for Robert's freedom.[1]
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