Having effectually repressed the revolt in England, Henry passed over with his army into Normandy. The inhabitants of Poitou and Brittany rose again in rebellion. Meanwhile the Count of Flanders had resigned his project of invading England as soon as Henry's return thither, and the various successes which attended him, were made known. The earl turned his forces in another direction, and having been joined by Henry, the younger king, and by Louis of France, laid siege to the city of Rouen. The attacking forces had scarcely sat down before the place, when Henry, who had returned in haste to the Continent, appeared on the scene of action, and obtained possession of the stores of the French army. Louis and his allies made but a brief resistance, and in a few days raised the siege. Their numerous army retreated hastily before the forces of the English king, who pursued his advantage, and compelled his adversaries once more to come to terms. Louis was again the first to withdraw from the contest, and proposed a conference for arranging terms of peace, to which the princes Henry and Geoffrey reluctantly assented. Richard at first refused to be included in the truce, but receiving no succour from his allies, he was unable to maintain a defence, and after the loss of many fortresses, he was compelled to return to his father, and implore his pardon. The king, stern and unrelenting towards ordinary offenders, acted with remarkable indulgence towards his rebellious children. An act of reconciliation was agreed upon, by which estates and revenues were assigned to each of the princes; and Henry made peace with the French king and the Count of Flanders, on condition that they restored the territories which they had occupied since the commencement of the war. On the other hand, Henry agreed to give up those lands which he had conquered, and to liberate all his prisoners, with the exception of the King of Scotland, who had been confined in the castle of Falaise. In the following month of December (1174), the Scottish king obtained his freedom by doing homage to Henry, and acknowledging himself as his vassal--thus sacrificing nominally the independence of his kingdom. The three princes assented to the terms offered by their father, and promised future honour and obedience to him, the two younger taking the oath of fealty. In 1175 Henry returned to England with his eldest son, and the reconciliation between them was now so complete, that it is related that they ate at the same table and slept in the same bed.