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After Mafeking

Briefly back in the United Kingdom in October 1901, Baden-Powell was invited to visit King Edward VII at Balmoral, the monarch's Scottish retreat, and personally invested as Companion of the Order of the Bath (CB).

Baden-Powell was given the role of organising the South African Constabulary, a colonial police force, but during this phase, Baden-Powell was sent to Britain on sick leave, so he was only in command for seven months.

Baden-Powell returned to England to take up the post of Inspector-General of Cavalry in 1903. While holding this position, he was instrumental in reforming reconnaissance training in British cavalry, giving the force an important advantage in scouting ability over continental rivals. Also during this appointment, Baden-Powell selected the location of Catterick Garrison to replace Richmond Castle which was then the Headquarters of the Northumbrian Division. Baden-Powell was a career cavalryman, but realised that cavalry was no match against the machine gun; however, his superiors, Kitchener and French, the latter also a career cavalryman, still regarded the cavalry as indispensable, with the result that cavalry was used in the First World War with little effect, yet the major item exported from Britain to Flanders during the War was horse fodder.

In 1907, Baden-Powell was promoted to Lieutenant-General but was on the inactive list - possibly at his request, for this was when the Scout Movement was starting to "move", and Baden-Powell had his experimental camp on Brownsea Island (see below).

In October 1907, Baden-Powell was appointed to the command of the Northumbrian Division of the newly formed Territorial Army. His headquarters were in Richmond Castle, he chose the site for the Catterick military town. On 19 February 1909, Baden-Powell sailed in the SS Aragon via Portugal and Spain to South America, for what seems to have been just a holiday, a trip not related to either the Army or to Scouting. However, the Foreign Intelligence section in the Belfast Newsletter reported that when in March 1909 he visited Santiago de Chile for three days, "He was given a warmer reception than had ever been afforded a foreigner in South America." He sailed back in the RMS Danube by 1 May 1909.

In 1910, aged 53, Baden-Powell retired from the Army. One account has it that Lord Kitchener said that he "could lay his hand on several competent divisional generals but could find no one who could carry on the invaluable work of the Boy Scouts". Baden-Powell wrote that this came from the King, which seems more likely, as the King had introduced the King's Scout Award in 1909 and Army officers held a Commission signed by the King, while Kitchener had nothing to do with the Scout Movement.

In 1915, Baden-Powell's book "My Adventures as a Spy" was published, which was interpreted as indicating that he had been active as a spy during that war.