Cato the Younger

He did not, however, divest his power of the element which inspires fear, but called in the aid of reason; with its help he persuaded and taught his men about everything, while rewards and punishments followed their acts. Consequently, it were hard to say whether he made his men more peaceful or more warlike, more zealous or more just; to such a degree did they show themselves terrible to their enemies but gentle to their allies, without courage to do wrong but ambitious to win praise.

Moreover, that to which Cato gave least thought was his in greatest measure, namely, esteem, favour, surpassing honour, and kindness, from his soldiers. For he willingly shared the tasks which he imposed upon others, and in his dress, way of living, and conduct on the march, made himself more like a soldier than a commander, while in character, dignity of purpose, and eloquence, he surpassed all those who bore the titles of Imperator and General. In this way, without knowing it, he produced in his men at the same time the feeling of good will towards himself.