joust

nouns

a combat between two mounted knights tilting against each other with blunted lances
joust, tilt

verbs

joust against somebody in a tournament by fighting on horseback
joust
is a type of (narrower)
be engaged in a fight; carry on a fight
"the tribesmen fought each other"; "Siblings are always fighting"; "Militant groups are contending for control of the country"
contend, fight, struggle