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In December 1554, Ambrose and Robert Dudley took part in a tournament held to celebrate Anglo-Spanish friendship.
Yet, the Dudley brothers were only welcome at court as long as King Philip was there, otherwise they were even suspected of associating with people who conspired against Mary's regime.
In January 1557 Robert and Amy Dudley were allowed to repossess some of their former lands, and in March of the same year Dudley was at Calais where he was chosen to deliver personally to Queen Mary the happy news of her husband's return to England.
Ambrose, Robert, and Henry Dudley, the youngest brother, fought for Philip II at the Battle of St. Quentin in August 1557.
Henry Dudley was killed in the battle by a cannonball — according to Robert, before his own eyes.
All surviving Dudley children — Ambrose and Robert with their sisters Mary and Katherine — were restored in blood by Mary's next parliament in 1558.

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