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

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When the Spaniards saw the two Roman divisions on their side of the river, they decided to engage them before they could form a united front, and swarming out of their camp they rushed down to battle. [2] The fighting began very fiercely, as the Spaniards were full of spirit after their recent victory, and the Romans were smarting under their unwonted humiliation. [3] The Roman centre, formed by two of the bravest legions, fought most gallantly, and the enemy finding themselves unable to dislodge them in any other way, formed themselves into a wedge and thus massed, the ranks behind always more numerous than those in front, they forced the centre back. [4] When he saw that the line was in trouble, Calpurnius sent two of his staff, T. Quinctilius Varus and L. Juventius Thalna, one to each legion, to stimulate their courage, and warn them that all hopes of victory or of keeping their hold on Spain rested with them; [5] if they gave way, not a man would ever see the other side of the Tagus, let alone any return to Italy. [6] He, himself, with the cavalry, made a short detour and charged the flank of the enemy's wedge as it was pressing back the centre, and Quinctilius delivered a similar charge on the other side. [7] But the cavalry under Calpurnius fought with much the greater determination, and he, himself, most of all. [8] He was the first to strike down an enemy, and he rode so far into the hostile ranks that it was difficult to recognise to which side he belonged. The praetor's conspicuous courage fired the cavalry, and the cavalry fired the infantry. [9] The leading centurions who saw the praetors in the midst of the enemy's weapons felt that their honour was at stake; they each urged on their standard-bearers, shouting to them to carry their standards forward, and then called upon the soldiers to follow them up. [10] The battle-shout rose again from the whole army, and they dashed forward as if they were charging from higher ground. Just like a mountain torrent they bore down and swept away their unnerved foe, and as rank after rank pressed on, they carried all before them. [11] The cavalry pursued the fugitives up to their camp, and mingling with the crowded enemy forced their way into it. Here a fresh battle began with those left to guard the camp, and the Roman troops were obliged to dismount and fight on foot. [12] The fifth legion now joined the combatants, and the rest came up as fast as they could. [13] The Spaniards were cut down everywhere throughout the camp; not more than 4000 men escaped. Of these about 3000, who had retained their arms, occupied a mountain in the neighbourhood, and the rest, only half-armed, straggled about the country. The enemy had numbered more than 35,000, out of whom this small number alone survived the battle. One hundred and thirty-two standards were captured. [14] Of the Romans and allies little more than 600 fell, and of the native auxiliaries about 150. [15??] It was mainly the loss of five military tribunes and a few of the Roman cavalry that gave the victory the appearance of a bloody one. [16] As they had not ground sufficient for their own camp, they remained in the enemy's camp. The next day Calpurnius addressed words of thanks and praise to the cavalry, and presented them with ornamental trappings for their horses. [17] He told them that it was mainly due to them that the enemy had been routed, and his camp captured. Quinctius presented his cavalry with chains and brooches. [18] The centurions also in both armies received rewards, especially those who had been posted in the centre.