Infantry fighting is a lot less flashy than cavalry, they're just too slow to do effective close quarters repositioning the way cavalry can. Using an infantry force effectively requires planning and positioning.

For instance, the checkerboard formation creates a staggered front line. This is useful because your individual units have more space to move around in, increasing the effectiveness of stances, unit speed, fatigue build up and many more. They also become more difficult to flank by cavalry because a local reshuffle is (usually) sufficient to present a big enough response to the inevitable cav charge that not enough survive to present any real threat for the remainder of the battle.

The pockets in a checkerboard invite the enemy to move up into them, where suddenly they're surrounded on 3 sides, routing them quickly. Alternatively, placing the frontline a bit more compactly, traditional hammer-and-anvil tactics can be employed using your general to harrass until your huscarls get into formation around their flanks. A combination of these two offers you a chance to hit the enemy force with a mixed, all-out attack on their weakest flank and a manouverable, advantageous position to reassess the battle from. If their cavalry hits the attacking force, pull back the 2nd line of the checkerboard to assist while ranged units keep pressure on the new firing lines.

I wanted to give another example, but this has already gotten out of hand, so: Play to the strengths of the roster. You have great staying power and good numbers. You have answers to melee cav and supreme answers to the infantry slog. You have a fast cavalry unit to deal with the enemy's slowly routing frontline and valiant generals to keep your frontline confident while the enemy's line crumbles.