When the Fourth Doctor came back in time to speak to Leonardo da Vinci, this soldier found the Doctor and held him prisoner and almost tortured him on Tancredi's orders. The Doctor complained of his cold hands. He was present during Tancredi's explanation of the Jagaroth and how he (Tancredi) was actually a splinter of Scaroth.
The soldier was a very laid back individual. Despite his willingness to torture the Doctor, he bore the Time Lord no ill will personally. As to his employer's apparent madness, he shrugged and said he was "paid to fight," not question Tancredi's sanity, and working for the Borgias had made him "believe anything". (TV: City of Death)