In RTW and BI:
- Send infantry up a ladder or seige tower. Find a nice quiet place and a blind spot in the wall towers field of fire
- Once on the wall run the infantry across the top of a gateway. You will get a message 'Building captured'
- Order your cavalry to a point inside the city. The gates should open automatically as your troops approach it.
Here mercenary infantry was hired to do just that. To get on the walls, capture the gates and let the Hun horde into the city.
Hun horde at work in the city.

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