There’s a historical marker, in Millers Tavern on Highway 360 just southwest of Tappahannock in central Essex County, titled “Bacon’s Rebellion Northern Force.” The marker reads:
“At Piscataway, near here, the northern followers of Bacon the Rebel assembled in 1676. On July 10, 1676, an action was fought with Governor Berkeley’s supporters, some of whom were killed and wounded. Several houses were burned. Passing here, the rebels marched south to the Pamunkey River, where they joined their leader, Bacon.”

An exhibit in the Essex County Museum, visited in 2010:

1676-06-bacons-northern-force-exhibit-at-essex-co-museum