Madaliński actively participated in the Bar Confederation and later, in 1786, was elected as a deputy to the Great Sejm.

Notably, on March 12, 1794, Madaliński openly disobeyed orders to demobilize his unit, instead advancing his troops from Ostrołęka to Kraków and subsequently attacking Prussian army posts along the Polish border.

This bold move ignited widespread riots against Russian forces throughout Poland and left the Russian garrison in Kraków unguarded as they were ordered to confront Polish forces.

Madaliński also took part in the battles of Racławice and Szczekociny, and his formation notably facilitated the expedition of Polish forces, led by General Jan Henryk Dąbrowski, to Wielkopolska.

Madaliński is commemorated for his courageous actions during tumultuous times in Polish history, particularly his insubordinate march from Ostrołęka to Kraków, which became a symbol of resistance and tenacity against oppressive regimes.