Not an entire battle, no. Though the French supplied a lot of materiel and maritime support, their troops were limited to a few actions. They helped in 1779 at the Siege of Savannah, bringing 23 warships and 5,000 troops ( a few hundred of whom were from what would become Haiti). But they opposed a force of British and Loyalist soldiers. A French force occupied Newport RI, but didn't engage in any actions until late in the war, when they were added to Washington's army and met the British army at the Siege of Yorktown. Several hundred French soldiers under the leadership of the Count of Deux-Ponts assaulted Redoubt No.9, while Continental troops under Alexander Hamilton took Redoubt No. 10. After getting past an abattis , they faced Hessian troops and overcame them. It was an important action. The taking of these two redoubts extended the Continental lines enough to be able to shell the British from three directions, making Cornwallis' surrender inevitable.

Though the Royal Deux-Ponts were fighting under the French flag, they were drawn from Alsace and the Palatinate. Most if not all of them therefore would have been able to carry on a German conversation with the Hessian sentinel who discovered them trying to get past the abbatis, and challenged them. One wonders what they might have said before he opened fire.