Battle of Mikatagahara
In 1573, regardless of whatever Yoshinobu thought of his lord afterwards, he didn't hesitate to ride to Ieyasu's rescue during the disaster at Battle of Mikatagahara. He was made the main guard of Hamamatsu Castle until he noticed his lord's distress and personally rode out of the keep with twenty horsemen. Yoshinobu was able to meet up with Ieyasu and their men frantically thrashed against Takeda Katsuyori's cavalry in hot pursuit. Ieyasu, broken and desolate at the sight of his own men dying before him, was carried on Yoshinobu's back to escape the scene. Losing his own pages to the chaos, Yoshinobu dropped his lord and took Ieyasu's horse. He told Ieyasu he would pose as his lord as a decoy for the real Ieyasu to escape.