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Infantry
Foot soldiers. Said to be first applied to a body of men
collected by the Infante or heir-apparent of Spain for the
purpose of rescuing his father from the Moors. The success of the
attempt rendered the corps popular. (Spanish, infanteria;
Italian, fanteria; fante means a servant.)
Source: Dictionary of Phrase and Fable, E. Cobham Brewer, 1894 More on Infantry from Infoplease:
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