Joust (joust or jŭst; 277), v. i. [OE. justen, jousten, OF. jouster, jouster, joster, F. jouter, fr. L. juxta near to, nigh, from the root of jungere to join. See Join, and cf. Jostle.] 1. To engage in mock combat on horseback, as two knights in the lists; to tilt. [Written also just.]
[1913 Webster +PJC]

For the whole army to joust and tourney. Holland.
[1913 Webster]

2. Hence: To engage in a competition involving one-to-one struggle with an opponent.
[PJC]