Rogue's Home by Hilari Bell
(Warning: if you haven't read the first book in the series, this is necessarily going to have *spoilers* for that story.)
Michael and Fisk are on their way back to Baron Seven Oak's, knowing that Michael will soon be declared "unredeemed," when a mysterious messenger gives Fisk a letter. It's pretty much incoherent, except that his sister Anna writes "come home" and that they need him. So Sir Michael (knight errant) and his squire Fisk's second adventure begins.
As in the first book, each chapter switches between Michael's and Fisk's first-person, humorous narratives. This time, we learn much more about Fisk's background and hometown. Both of the characters are richly drawn and funny. As enjoyable as the first, the only complaint I have is that I figured out the end a bit early (but then, I am a bit older than the intended audience). 4.5 stars.
Cross-posted at Born Reader.