Here's a copy and paste from the wiki page on Gen. Ted Roosevelt, son of Pres Teddy Roosevelt:
In February 1944, Roosevelt was assigned to England to help lead the Normandy invasion. He was assigned to the staff of the U.S. 4th Infantry Division. After several verbal requests to the division's commanding officer, Maj. General "Tubby" Barton, were denied, Roosevelt sent a written petition:
The force and skill with which the first elements hit the beach and proceed may determine the ultimate success of the operation.... With troops engaged for the first time, the behavior pattern of all is apt to be set by those first engagements. [It is] considered that accurate information of the existing situation should be available for each succeeding element as it lands. You should have when you get to shore an overall picture in which you can place confidence. I believe I can contribute materially on all of the above by going in with the assault companies. Furthermore I personally know both officers and men of these advance units and believe that it will steady them to know that I am with them.[12]
Barton approved this letter with much misgiving, stating that he did not expect Roosevelt to return alive.
Roosevelt would be the only general on D-Day to land by sea with the first wave of troops. At 56, he would be the oldest man in the invasion, and the only man to serve with his son on D-Day at Normandy (Captain Quentin Roosevelt II was among the first wave of soldiers to land at Omaha beach while his father commanded at Utah beach).
Ted Roosevelt was one of the first soldiers, along with Capt. Leonard T. Schroeder Jr., off his landing craft as he led the U.S. 4th Infantry Division's 8th Infantry Regiment and 70th Tank Battalion landing at Utah Beach. Roosevelt was soon informed that the landing craft had drifted more than a mile south of their objective, and the first wave was a mile off course. Walking with the aid of a cane and carrying a pistol, he personally made a reconnaissance of the area immediately to the rear of the beach to locate the causeways that were to be used for the advance inland. He then returned to the point of landing and contacted the commanders of the two battalions, Lt. Cols. Conrad C. Simmons and Carlton O. MacNeely, and coordinated the attack on the enemy positions confronting them. Roosevelt's famous words in these circumstances were, "We’ll start the war from right here!".[15] These impromptu plans worked with complete success and little confusion. With artillery landing close by, each follow-on regiment was personally welcomed on the beach by a cool, calm, and collected Roosevelt, who inspired all with humor and confidence, reciting poetry and telling anecdotes of his father to steady the nerves of his men. Ted pointed almost every regiment to its changed objective. Sometimes he worked under fire as a self-appointed traffic cop, untangling traffic jams of trucks and tanks all struggling to get inland and off the beach.
When General Barton, the CG of the 4th Division, came ashore, he met Roosevelt not far from the beach. He later wrote that
while I was mentally framing [orders], Ted Roosevelt came up. He had landed with the first wave, had put my troops across the beach, and had a perfect picture (just as Roosevelt had earlier promised if allowed to go ashore with the first wave) of the entire situation. I loved Ted. When I finally agreed to his landing with the first wave, I felt sure he would be killed. When I had bade him goodbye, I never expected to see him alive. You can imagine then the emotion with which I greeted him when he came out to meet me [near La Grande Dune]. He was bursting with information.[16]
With his division's original plan modified on the beach, the division was able to achieve its mission objectives by simply coming ashore and attacking north behind the beach toward its original objective. Years later, General Omar Bradley was asked to name the single most heroic action he had ever seen in combat, and he replied, "Ted Roosevelt on Utah Beach." Originally recommended for the Distinguished Service Cross by General Barton, the award was upgraded at higher headquarters to the Medal of Honor which Roosevelt was posthumously awarded on 28 September 1944.[17]