Titus Manlius Torquatus

https://en.wikipedia.org/wiki/Titus_Manlius_Imperiosus_Torquatus

excerpt from the wikipedia article on Titus' father Titus Malius Imperiosus...

"During the conduct of the war, Manlius and his co-consul, Publius Decius Mus, decided that the old military discipline would be reinstated, and no man was allowed to leave his post, under penalty of death. Manlius's son, seeing an opportunity for glory, forgot this stricture, left his post with his friends, and defeated several Latin skirmishers in battle. Having the spoils brought to him, the father cried out in a loud voice and called the legion to assemble. Berating his son, he then handed him over for execution to the horror of all his men."

image from wikimedia commons caption: The son of Manlius Torquatus, provoked beyond endurance by the taunts of the Latin champion, rode out from the ranks.