When Rudolph III of Burgundy died in 1032, his kingdom was inherited by Emperor Conrad II and incorporated into the Holy Roman Empire.
Rudolph's nephew, Odo II, continued to dispute this outcome, maintaining his own right to the inheritance.
Odo took advantage of his absence to invade the Duchy of Lorraine and occupy the city of Bar.
[1] Initially having been taken by surprise, Gothelo I, Duke of Lorraine, had meanwhile been able to raise an army—in part by appealing to Reginard, bishop of Liège, and Albert II, Count of Namur for troops.
[2][3] When their armies met outside Bar, six hours of fighting ensued at the conclusion of which Odo's forces were defeated.