Shove her into the crowd

In your considered opinion this shouldn't be a spectator-sport. You speed up, zip in behind the knight, and move her into the center of the mob, before getting clear and finding a good vantage point.

Finding herself stuck in the middle of the crowd, the warriormaiden squeels, and the people surrounding her give appreciating jeers. She's quickly beset by grasping hands from all directions, all trying to cop a feel whereever they can. Embarrassed and humiliated to be publicly groped, just wearing panties, she spins and turns, trying to evade and shake off people's hands.

Soon enough though, some aren't content to just touch her bare skin or pinch her behind, but a hand or three slip into her panties in various places, and she struggles to keep her underwear on her ass while trying to get free. Some of those hands are making themselves way too comfortable down there. Other try to slip between her arms and the breasts those arms are trying to cover up. Soon enough, one guy gets his hand in there, cupping her boob with his hand and fondling it. The knight is in pretty dire straits.