Caesar was defeated both at Gergovia and Dyrrhachium, which definitely classify as "beatings". His first expedition to Britain can also arguably be considered a failure.
Scipio Africanus the Elder laid the foundation for the Roman empire, fought one of the best generals of the ancient world, and was never defeated in battle.
His impact on Roman folklore was so powerful that more than a 100 years after his death, Caesar had to think off a stratagem to keep his soldiers from being demoralized during the fighting against Scipio's distant descendant in Africa.
Julius Caesar - A biography
Scipio Africanus - A biography
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