Yes

"All right, I'm working with you!"
We both clasp hands, and soon my men and those of Gaius, who some minutes earlier were butchering each other, are circling around us. With the point of his sword, the young prince draws on the ground a crude map of the imperial palace.
"Here, the gardens, by night we'll be able to enter there... Here, the main bedroom, Valerius will likely be in it..."
His voice turns into a mumbling.
"And I suppose my mother will be there too, we have to try to rescue her."
Seeming to brace himself about the idea of what his mother must be enduring, he winks at Brynhild who has joined us after having gotten dressed again.
"Does your warrior wife come with us? From what I've seen of her fighting skills, she could be of great help!"