In 1410, Vytautas commanded the forces of the Grand Duchy in the Battle of Grunwald. The battle ended in a decisive Polish-Lithuanian victory against the Teutonic Order. The war of Lithuania against military Orders, which lasted for more than 200 years, and was one of the longest wars in the history of Europe, was finally ended. Vytautas backed the economic development of the state and introduced many reforms. Under his rule, the Grand Duchy of Lithuania slowly became more centralized, as the governours loyal to Vytautas replaced local princes with dynastic ties to the throne. The governours were rich landowners who formed the basis for the nobility of the Grand Duchy. During Vytautas' rule, the Radziwiłł and Goštautas families started to gain influence.