In the spring of 1080 Robert was back on good terms with his father. He again made Robert his heir for Normandy in the presences of his barons. Later that summer or early fall Robert went with his father to England. William placed Robert in charge of a large army to march north and deal with King Malcolm III of Scotland. Malcolm had been raiding the north of England while William was occupied in Normandy. When the two armies drew near each other, Malcolm did not want to fight. He again swore fealty to king William and gave hostages. Robert remained in England with his father until the end of 1081. Events in Maine caused William and Robert to return to Normandy. Fulk IV, Count of Anjou had been attacking in Maine again trying to get control away from Normandy. William and Robert led a great army into Maine to confront the Angevin count. Before the fighting could start, a cardinal and several monks stopped the battle. They called for a truce and after much negotiation one was agreed to. The count of Anjou was to let Normandy have Maine, but Robert, as count of Maine, had to recognize Fulk IV as his overlord for Maine. When Queen Matilda died in 1083 Robert seemed to abandon his father. He and his mother had been very close. 