Jousting is a medieval and renaissance martial game or hastilude between two combatants either on horse or on foot. The joust became an iconic characteristic of the knight in Romantic medievalism. The term is derived from Old French joster ultimately from Latin iuxtare "to approach to meet". The word was loaned into Middle English around 1300 when jousting was a very popular sport among the Anglo-Norman knighthood. The synonym tilt (as in tilting at windmills) dates c. 1510. Jousting on horse is based on the military use of the lance by heavy cavalry. It transformed into a specialized sport during the Late Middle Ages and remained popular with the nobility in England and Wales Germany and other parts of Europe throughout the whole of the 16th century (while in France it was discontinued after the death of King Henry II in an accident in 1559). In England jousting was the highlight of the Accession Day tilts of Elizabeth I and of James VI and I and also was part of the festivities at the marriage of Charles I.