Yes, Patrick O'Brian's Aubrey/Maturin series. Jack Aubrey's father wasn't a nobleman, he was a member of Parliament. In the 2nd book, Post Captain, he and Maturin sneaked across France into Spain with Jack in a bear skin.
Not ebook'd.. And these are my #1 fav read of any book series.
NY Times - Richard Snow
Washington Post - Kenneth Ringle
NY Times - David Mamet
Washington Post - George Will