Tournament is Episode 1 of Season 1. It aired on December 15th, 2002. Here's the synopsis from TV.com:
One of the quintessential images of medieval life, the tournament lasted well into Tudor times. Actor and fight master Peter Woodward investigates the purpose of these extraordinary and colorful events and how its many forms--the foot tourney, joust on horseback, the melee--developed from the ancient trial of combat. Our team experiments with weapons and armor designed for tournament, examines the rules of combat and the notion of chivalry, and joins a medieval tournament team for a joust on horseback!
-- Casey, Webmaste