Richard is getting close to returing to the king. He arrives at the location he originally attempted an attack against the king. He is willing to turn himself in so long as no one else is blamed for his actions or are seen as an accomplice.
"After three days they drew near Tauton. The Stubble fields, the flowery hedges, the plenteous orchards were passed. From a rising ground they looked upon the walls of the town, and the vacant moor where his camp had stood" (424).
"The price I ask, is the despised lives of men, who, but that they loved me, were incapable of merit or of crime in his eyes. For their humble sakes, like my grandfather York, I am prepared to die. If I pledge of this be denied me, I still am free. I wear a sword, and will sell my life dearly, though alone" (424).
Description: The picture shows Taunton Castle, which dates back to the Anglo-Saxon period and likely a destination that Richard hoped to secure during his first seige.
https://swheritage.org.uk/museum-of-somerset/explore/taunton-castle/