At Williamsburg Palmer, by now a Major, took over command of the regiment when his colonel was wounded; however, Palmer himself got shot in the arm. In October 1862, he joined the staff of Confederate General A.P. Hill.
At Williamsburg, Major Palmer succeeded his colonel as regimental commander after being wounded; meanwhile, Palmer himself was injured by gunfire and suffered an arm wound. In October 1862, Palmer became part of General A.P. Hill's staff.