The Ballad of Sir Dinadan (The Squire’s Tales #5) by Gerald Morris
Young Dinadan has no wish to joust or quest or save damsels in distress or do any of the knightly things ex-pected of him. But he was born to be a knight, and knights, of course, have adventures. So after his father forces his knighthood upon him, he wanders toward King Arthur’s court in the company of a misguided young Welsh lad named Culloch. There Dinadan meets Sir Kai and Sir Bedivere, and the three find themselves accompanying Culloch on the worst sort of quest.
Along the way, Dinadan writes his own ballads, singing of honor, bravery, loyalty, and courtly love—and learns that while minstrels sing of spectacular heroic deeds, honor is often found in simpler, quieter ways.