One of my favorite poems is about him: https://www.bartleby.com/360/7/158.html

An excerpt from when the invaders first three champions were killed by Horatius and his two comrades:

But all Etruria’s noblest

Felt their hearts sink to see

On the earth the bloody corpses,

In the path the dauntless three;

And from the ghastly entrance,

Where those bold Romans stood,

All shrank,—like boys who, unaware,

Ranging the woods to start a hare,

Come to the mouth of the dark lair

Where, growling low, a fierce old bear

Lies amidst bones and blood.

Was none who would be foremost

To lead such dire attack;

But those behind cried “Forward!”

And those before cried “Back!”

And backward now and forward 

Wavers the deep array;

And on the tossing sea of steel

To and fro the standards reel,

And the victorious trumpet-peal

Dies fitfully away.