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There was no regret as he stepped from life to death, not really. Not much, at any rate. He was fulfilling his promise, keeping his word to the lady who held his heart and laying down his life for a great man, what cause could be more noble than that?
And if he wished to see Guinevere once more, to say goodbye properly, what did that matter? They had both known what her asking had meant, that Lancelot would not be returning to Camelot. He would face death with courage, knowing that Arthur would live to make Guinevere smile again.