Answer:
My first master has four legs, my second master has two. My first I serve in life, my second I serve in death. Tough I am, yet soft beside. Against ladies cheeks I often reside.
I always follow my brother but you cannot see me, only him. You cannot hear him but you can hear me. What are we?
A skin have I, more eyes than one. I can be very nice when I am done.
I am a precious little thing, dancing and eating all the time. Watch me from a distance, so you can feel my warm and gentle love. But don't come to close or my next meal you could be!
My first is in wield, sever bones and marrow. My second is in blade, forged in cold steel. My third is an arbalest, and also in arrows. My fourth is in power, plunged through a shield. My fifth is in honor, and also in vows. My last will put an end to it all.
I have feet on my head