This was a somewhat common thing in the Middle-High Middle Ages.

Richard the Lionheart is probably the most well known for leading from the front - and perhaps his most well known feat was during the Siege of Acre at the outset of the Third Crusade where he purportedly killed enemies with a crossbow while being carried on a stretcher. He was widely known to lead from the front.

William de Normandie is said to have led his invasion of England from the front in various sources.

Henry V, though while still a prince/ruling England while his father was ill, took an arrow to the face at Shrewsbury (1403). There's actually a really fascinating article/video about this on Medievalists.

Richard III was killed in the Battle of Bosworth Field in 1485 when he led a rather daring cavalry charge aimed to end the battle by killing/capturing Henry Tudor.

There are others, but these are some of the better examples.

I know this is deleted and hidden now but I also meant to mention King John the Blind of Bohemia, who had his horse led to the midst of the melee at Crecy so he could strike at an enemy. He died, of course.

There are a lot of examples of kings who led their men on the field of battle. One of my personal favorites is Gustavus Adolphus, the Swedish King during the Thirty Years' War. He proved his worth in a series of war after his ascension, most notably against Russia, and later, the Holy Roman Empire. He introduced combined arms warfare to the Swedish Army, which was basically a mix of mobile musketeers in shallow ranks and light artillery. He also trained his mounted soldiers to be more aggressive and armed them with gunpowder weapons as well, which was rare for that era. He led those cavalry units in battle himself. That's how he died - personally leading a cavalry charge at the Battle of Lutzen in 1632.

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