The Roman army was led by the consuls Gaius Maenius and Lucius Furius Camillus.

[1][2] The Romans had campaigned against the combined force at Pedum during the previous year, 339 BC, but the attempt was abandoned by Tiberius Aemilius Mamercus after hearing of the victory of his colleague, Quintus Publilius Philo, elsewhere in Latium.

Meanwhile, Camillus set off for Pedum itself, where he engaged the larger armies of Tibur and Praeneste.

[1] After the victory at Pedum, the consuls spent the rest of their terms campaigning throughout Latium, effectively bringing an end to the Latin War.

Upon returning to Rome, they were both rewarded with a triumph, and Equestrian statues in the Roman Forum, a rare honor for that time.