Jousting

Jousting was a martial contest between two knights mounted on horses where the aim was to knock the other from his mount by means of a lance.

Jousting was seen as an honourable practice by which a knight could prove his worth or remove a stain on his character. The shields born by the knights often carried their device, denoting who they were and that they thought for their lineage's honour. (TV: The King's Demons)

History
Hugh Fitzwilliam accepted the challenge of Sir Giles Estram on behalf of his father, Ranulf Fitzwilliam. Meeting on the field to contest the joust, the proceedings were interrupted after the Doctor's TARDIS landed close by.

King John of England invited the Fifth Doctor, Tegan Jovanka and Vislor Turlough to watch as Sir Giles and Hugh re-engaged. Sir Giles knocked Hugh from his horse on the first charge. However, at the Doctor's request, Hugh's life was spared. (TV: The King's Demons)

The Eleventh Doctor, Amy Pond and Rory Williams went jousting while trying to get to Rio de Janeiro. (PROSE: The Glamour Chase)