Oath of Fealty by Elizabeth Moon
At the end of The Deed of Paksenarrion, the mercenary Duke Phelan discovered that he’s the heir to the Lyonan kingdom — the only kingdom jointly ruled by humans and Elves. As Oath of Fealty starts, he has to give up his dukedom and he recommends his captain Arcolin to be elevated in his place. To make things even more interesting, one of his other soldiers, Dorrin Verrakai (who had fled her family legacy decades earlier), has been called back to claim leadership of the evil Verrakai dukedom which had been seized by the king of Tsai when the previous duke tried to assassinate several members of the ruling family.
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