In which battle had Romans invaded Samnite territory, been ambushed, and then forced to surrender, naked, under the yoke?

Battle of the Caudine Forks

Explanation:

This battle in 321 BC was part of the Second Samnite War. In this battle, the Romans were led by false information given by Samnites under cover to go aid Lucera in Apulia. This was a lie so that they would take the quickest route there, the Appian Way through the Caudine Forks, and be ambushed by the Samnites. Once there, the Romans knew there was no way out. Being thaat the Samnites had a huge advantage they decided to send a letter to Herennious to ask what to do with such advantage. At first, the army was told to let go of every roman unharmed, but after a bit another letter came in stating they were to kill every roman to the last man. However, Pontius was unwilling to take either advise so he made the Romans surrender and pass under a yoke, which indeed humiliated the Romans.