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Brenier enlisted in 1786 and gained rapid promotion during the period of the French Revolutionary Wars, becoming an aide-de-camp in 1792 and in 1793 a Chef de brigade (colonel) in the Army of the Eastern Pyrenees (Armée des Pyrénées orientales).
In 1804 Caulaincourt was appointed aide-de-camp to Louis Bonaparte, with the rank of chef de brigade (colonel) of a dragoon brigade.