Titus Livius (Livy), The History of Rome, Book 39
Rev. Canon Roberts, Ed.

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As soon as their troops left their winter quarters, the two praetors, C. Calpurnius and L. Quinctius, joined their forces in Baeturia, and as the enemy were encamped in Carpetania they advanced thither, prepared to carry out their operations in mutual concert. [2] A fight began at a spot not far from the cities of Dipo and Toletum between foraging parties, who were reinforced from both camps, and gradually the whole of the two armies were drawn out to battle. In this tumultuary conflict the enemy were helped by their knowledge of the country and the nature of the fighting. [3] The two Roman armies were routed and driven back to their camp. The enemy did not press their demoralised adversaries. The Roman commanders, fearing lest the camp might be stormed on the morrow, withdrew their armies in silence during the night. [4] The Spaniards formed in battle-array at dawn and marched up to the rampart; surprised at finding the camp empty, they entered it and appropriated what had been left behind in the confusion of the night. [5] After this they returned to their own camp and remained inactive for some days. The losses of the Romans and the allies in the battle amounted to 5000, and the enemy armed themselves with the spoils taken from their bodies. [6] Then they moved on to the Tagus.

The Roman generals in the meantime had spent their whole time in drawing Spanish troops from the friendly cities and restoring the courage of their men which had been so shaken in the battle. [7] When they considered that they were strong enough and the soldiers were asking that they might meet the enemy and wipe out [8??] their disgrace, they moved forward and fixed their camp at a distance of twelve miles from the Tagus. Then, taking up the standards and forming into a closed square, they reached the Tagus at daybreak. [9] The enemy camp was on a hill on the other side of the river. There were two places where the river was fordable, and the armies were promptly led across-Calpurnius on the right and Quinctius on the left. [10] The enemy remained quiet-taken aback at the sudden advance of the Romans and making up their minds what to do-when they might have attacked the Romans and thrown them into confusion during the passage of the river. The Romans meanwhile had transported their baggage across and placed it all together. [11] There was not space enough for an entrenched camp, so seeing the enemy in motion, they deployed into line of battle. Two legions, the fifth from Calpurnius' army and the eighth under Quinctius, formed the centre-the main strength of the army. [12] The ground was level and open up to the hostile camp; there was no fear of surprise or ambush.