The Minstrel in the Tower — Gloria Skurzynski

An adventurous rescue set in the time of medieval knights, castles, bandits, and music.
 
Before their father returns to France from the Crusades, daring Alice and musical Roger set off on their own journey: to find their long-lost uncle. But on the way, the siblings are kidnapped and locked in an ancient hidden tower. To finish their quest, they need to escape -- and fast! Can Alice use her courage to slip away and find help? And can Roger use his musical talents to guide her back before it's too late?
 
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