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Lancelot's first death was a sacrifice after he made a promise to Gwen to protect Arthur. After Morgana brought Lancelot back as a shade, she made him her puppet and set out to destroy Guinevere and Arthur's engagement.
The paper Fudge handed to him during his visit to Azkaban — falling for Sirius' pretext of missing the crossword puzzles — gave him a reason to break himself out.