Baylor assumed command of the Stonewall Brigade after the death of Brigadier General Charles S. Winder on August 9, 1862, at Cedar Mountain. Before his promotion to brigadier general could be confirmed, Baylor was killed in action on the afternoon of August 30, 1862, at Second Manassas after taking the colors of the 33rd Virginia Infantry and gallantly leading his brigade to the unfinished railroad in a charge against the Union V Corps. General William B. Taliaferro said, "No more exalted recognition of his worth and services can be uttered and no higher tribute can be paid him than to declare that he was worthy of the command of the Stonewall Brigade".