He was born in Versailles and educated at the "École Militaire", which he left at the age of sixteen. Lescure was in command of a company of cavalry in the "Regiment de Royal-Picmont". In 1791, he married his cousin Victoire de Donnissan de La Rochejaquelein, who was also the cousin of Henri de La Rochejacquelein, another hero of Vendée. Being opposed to the ideas of the Revolution, he emigrated in 1791, but soon returned, and, on the "Journée du 10 août", 1792 took part in the defence of the Tuileries Palace against the mob of Paris. The day after, he was forced to leave the capital, and took refuge in the "château" of Clisson near Bressuire.