Split your army. Send your larger force into the bush. Leave your smaller force on the opposite side of the bush. End turn.
If all goes well, the enemy should move to attack the smaller force, and if your general/captain is successful, should ambush them.
You don't need dense forest to ambush; I've ambushed out in the east using a single tree! (On the strategy map, I mean. I suppose it represents some small patch of light forest.) The trick is to use some bait to lure the AI in. Maybe a lone family member or something.
@Obelics: You're right. I don't recall how often my ambushes have failed, but more so than I'd expect.
As for how the actual ambush, well, that's quite a broad topic. It depends on the force I'm ambushing, what units I have, etc., etc. Generally, I'll deploy on both sides in an attempt to crush the force between my men. The goal should be to route, and destroy if possible, the bulk of their army in a single go.
If you're really paranoid about being ambushed, attach a spy or two to your army to scout out potential ambush sites before you move your forces.
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