Publius Quinctilius Varus (46 BC–AD 9) was a Roman politician and general under emperor Augustus, mainly remembered for having lost three Roman legions and his own life when attacked by Germanic leader Arminius in the Battle of the Teutoburg Forest.

Battle of Teutoburg Forest

I, Claudius by Robert Graves, Vintage International; a novelization based largely on Suetonius, but one which is generally considered to stick scrupulously to the facts.
The Iron Hand of Mars by Lindsey Davis; fourth book of the mystery series set during the reign of Vespasian, a portion of the novel occurs in the Teutoberger Wald.