The Whipping Boy by Sid Fleischman

This is a story about a prince and his whipping boy.  The whipping boy takes advantage of living in the castle with the prince and learns as much as he can, receiving a "free" education.  The prince takes advantage of his position to get out of anything he doesn't want to do, like learning.  One day the prince runs away and takes the whipping boy with him.  If it weren't for the whipping boy, the prince would have died on this journey.  I thought it was an enjoyable book to read.