When Takeda Shingen took Fukashi castle (now Matsumoto Castle) in 1550, he entrusted it to Baba. At Mikatagahara in 1573, he led the vanguard in chasing Tokugawa Ieyasu's army back to their Hamamatsu fortress; upon seeing the gates open and braziers lit, Baba mistakenly suspected a trap, and did not press the fleeing army further. It was at Nagashino that Baba was killed, three years later, as two samurai attacked him simultaneously with their spears, taking off his head.