Somehow he regained the king's favour, and in 1460 was appointed Keeper of Henry VI's "great Wardrobe".
He helped negotiate the marriage of Edward's sister, Margaret to the Duke of Burgundy in 1468.
Richard had Vaughan arrested and executed along with Anthony Woodville, 2nd Earl Rivers and tutor for Edward V. Also arrested was Edward V's half brother, Sir Richard Grey, son of Sir John Grey of Groby, the first husband of Elizabeth Woodville.
Vaughan was the second husband of Eleanor Arundel, widow of Sir Thomas Browne, who had likewise been executed in 1460.
[1] In Shakespeare's Richard III, Vaughan's ghost appears to the King on the eve of the Battle of Bosworth.