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Pillion
Fresco Castello de la Manta 1420
Pillion is one rider behind the primary rider. Generally they sit sideways, sometimes on a small pad. The pad might include a ledge for feet to rest on called a planchette. Queen Elizabeth I's stables maintained a list of horses who would carry two riders pillion style. Both men and women rode this manner.
On this page we have examples from the 15th and 16th Centuries