Movie like Robin Hood

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This movie takes place in the middle ages. A peasant man and his son live in a village and an entourage comes through of nobles. The man says to the boy that one of the ladies was his mother. The boy is taken from him by one of the noblemen to live with his mother. Later on, there is a battle in the castle, and the man helps to rescue his son with the invading army. It is similar to Robin Hood. The mother was killed during the fighting, and the man had fallen in love with another lady I believe.

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My brother found it: The Flame and the Arrow