The battle of Samugarh was the second battle fought between Dara Shikoh (the eldest son and heir apparent) and his three younger brothers Aurangzeb, Shah Shuja and Murad Baksh (third and fourth sons of Shah Jahan) to decide who would be the heir of the throne after their father.

Dara depended on his Hada Rajputs and Saiyids of Barha but the major bulk of his army was hastily recruited and had no experience in war.

However, Dara's van continued to weaken as Rustam Khan died fighting and his men fled after his death.

The Rajputs of Dara, who formed the vanguard and right wing were able to penetrate into Auragzeb's van and attacked Zulfiqar and Murad.

According to Saqi Mustad Khan, Dara had control of his large reserves and Aurangzeb's army had grown tired.