The Duke eventually led his untrained and ill-equipped troops out of Bridgwater at around 10:00 pm to undertake a night-time attack on the King's army.
They were guided by Richard Godfrey, the servant of a local farmer, along the old Bristol road towards Bawdrip.
With their limited cavalry in the vanguard, they turned south along Bradney Lane and Marsh Lane, and came to the open moor with its deep and dangerous rhynes.

There was a delay while the rhyne was crossed and the first men across startled a royalist patrol.
A shot was fired and a horseman from the patrol galloped off to report to Feversham.
Lord Grey of Warke led the rebel cavalry forward and they were engaged by the King's Regiment of Horse which alerted the rest of the royalist forces.
The superior training of the regular army and their horses routed the rebel forces by outflanking them.
The Duke eventually led his untrained and ill-equipped troops out of Bridgwater at around 10:00 pm to undertake a night-time attack on the King's army. They were guided by Richard Godfrey, the servant of a local farmer, along the old Bristol road towards Bawdrip. With their limited cavalry in the vanguard, they turned south along Bradney Lane and Marsh Lane, and came to the open moor with its deep and dangerous rhynes.
There was a delay while the rhyne was crossed and the first men across startled a royalist patrol. A shot was fired and a horseman from the patrol galloped off to report to Feversham. Lord Grey of Warke led the rebel cavalry forward and they were engaged by the King's Regiment of Horse which alerted the rest of the royalist forces. The superior training of the regular army and their horses routed the rebel forces by outflanking them.
Battle of Sedgemoor