Warlock and Son
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Book twelve of the Warlock Of Gramarye series by Christopher Stasheff, published in 1991.
From the Publisher:
"Even the son of a warlock gets restless sometimes. And when Magnus sets off to see the world, his father, Rod Gallowglass, and the robot horse, Fess, can't resist trailing behind. Someone's got to protect young Magnus from spellbinding witches, enchanted maidens, and jealous husbands."
