Erpingham was one of the middle-aged English commanders on the field at Agincourt, and at 60 was one of the oldest men present. Although having never experienced a pitched battle before, he had taken part in lesser actions and, as noted by Curry, was "undoubtedly one of the most experienced soldiers present" at Agincourt. He is not mentioned in any contemporaneous English versions of the battle, but three French chroniclers, Jean de Wavrin, Enguerrand de Monstrelet and Jean Le Fèvre, all give detailed descriptions of his role in the battle. The three main divisions (or 'battles') of the English army were commanded by Henry and two veteran soldiers: the rearguard (to the right of the King) was led by Thomas Camoys, 1st Baron Camoys; and the vanguard (on the King's left) was led by Edward, Duke of York.