The Squire’s Quest (The Squire’s Tales #9) by Gerald Morris
Why is it, Terence wondered, that the things you know most surely are always the things you can’t demonstrate to any one else?
And why is it, after all of these years, that Terence is still just a squire, offering advice on how best to scrub the rust spots from armor? But Squire Terence has more to worry about than his place on the social scale. For all the peace and prosperity that has made England famous across Europe, Terence is uneasy. After nearly six months without contact with the World of the Faeries – not even from his old friend, the mischievous sprite Robin – Terence is sure something is rotten in King Arthur’s court.