Žižka's opponents were able to gather large forces, as Catholic troops from the Pilsen Landfried joined the Prague Hussites.

But Žižka deceived them and at night he unexpectedly withdrew his troops from Kostelec, crossed the Elbe river and held towards Stará Boleslav.

From there he turned his army southeast, passed by Kolín and Kutná Hora and led his men to build a fortified camp near Malešov fortress.

When this happened, he ordered his infantry to push carts with stones from above towards the enemy's center,[4] and these actions were accompanied by cannon fire.

It was agreed that the now reunited Hussites should attack Moravia, part of which was still held by Sigismund's partisans, and that Žižka should be the leader in this campaign.

The clash is commemorated by the 20th-century build memorial stone with a plaque, placed on the site of the battle near the market town of Malešov.