In 28AD, the Frisii revolted against local Roman authorities over excessive taxation, culminating in a battle, possibly fought near Heiloo in the modern-day Netherlands, in the same yearKen Dowden, European Paganism: The Realities of Cult from Antiquity to the Middle Ages, p. 112Camden House, European Paganism: Camden House History of German Literature, p.100 between the local Frisii and a Roman army led by the Roman general Lucius Apronius.

The earliest mention of the Frisii tells of Drusus's 12 BC war against the Rhine Germans and the Chauci. The Romans did not attack them after devastating the lands of the Rhine Germans, but merely passed through their territory and along their coast in order to attack the Chauci. The account says that the Frisii were subjugated, suggesting a Roman suzerainty was imposed. When Drusus brought Roman forces through Frisii lands in 12 BC and defeated them, he placed a moderate tax on them. However, a later Roman governor raised the requirements and exacted payment, at first decimating (removing one tenth of) the herds of the Frisii, then confiscating their land, and finally taking wives and children into bondage. By AD 28 the Frisii had had enough. They hanged the Roman soldiers collecting the tax and forced the governor to flee to a Roman fort, which they then besieged., The Annals, Bk IV, Ch 72–74. Events of AD 15–16.

According to Tacitus:

For some reason, the Romans did not continue with the military operations and the matter was closed. The prestige of the Frisii among the neighboring Germanic tribes was raised considerably.

See also

Baduhenna Old Frisian Third Servile War

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