Andal Brask was killed by Taniks, the Scarred. Cayde took his place because they were great friends (and because he lost the Vanguard Dare)
English
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Do we know exactly what the Vanguard Dare is?(aside from the obvious)
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No, I don't think so
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A bet between Cayde and the vanguard hunter who came between him and his mentor, the loser would have Vanguard duty.