In the summer of 1470, Ahmed Khan bin Küchük, ruler of the Great Horde, organized an attack against Moldavia, the Kingdom of Poland, and Lithuania. By August 20, the Moldavian forces under Stephen the Great defeated the Tatars at the battle of Lipnic. In 1474 and 1476, Ahmed insisted that Ivan III of Russia recognize the khan as his overlord. In 1480, Ahmed organized a military campaign against Moscow, resulting in a face off between two opposing armies known as the Great Stand on the Ugra River. Ahmed judged the conditions unfavorable and retreated. This incident formally ended the "Tatar Yoke" over Rus' lands.