The Legends of Titus and Manlius

The consul, manlius, had given orders to his troops that no one should engage the latins until he had given the ok. He didn't want reckless brawling to spark a battle he wasn't prepared for. Manlius's son, titus, disobeyed the order and killed an enemy in single combat. The army from that point on hated their commander but it was a far more disciplined and professional army that was doing the hating than before.