At the head of the 2nd Light Infantry Battalion of the Legion, Baring was put in charge of the defence of the farmhouse of La Haye Sainte during the battle of Waterloo on 18 June 1815.

He wrote about the events of the day in a detailed report,[2] which ended with the words: The Division, which was terribly tired and had suffered infinitely, spent the night lying on the battlefield, and of the 400 men with which I had entered the battle I now had no more than 42.

I felt exhausted in the highest degree and my leg was very painful; with my friend I lay down in some straw, which the men had gathered for us to sleep on.

After we had boiled something up and our men had just about recovered, we left the battlefield in pursuit of the enemy.The King's German Legion was dissolved after Waterloo and Baring joined the newly formed army of the Kingdom of Hanover, in which he became oberst in the Garde-Grenadier-Regiment (26 December 1828) and from 1830 as Flügel-Adjutant in the general staff.

A street in Hanover city-centre is named after him and a small memorial stone is dedicated in front of the Hauptstaatsarchiv Hannover near the present-day regional parliament and the former royal palace.