Okay. I found a source for the quote I was looking for:

http://v-napolean1.blogspot.com/2008/11/battles-of-jena-and-auerstedt.html

Prussian officer Noundwer reports:

“The platoons were first dispatched in columns, all officers were dismounted. The drummers were drumming and the pipers were playing. We marched into deployment zone. The officers on the flanks, then we stopped to deploy the formation.”

“Once the divisions were in position, the platoon marched forward, we loaded our muskets as we marched.”

“I was right behind the formation, with an officer of the Fusiliers from the neighboring battalion. We shook hands, and promised to support each other in the bravest manner. A moment later Prince Hohenlohe himself appeared; riding up the line of the left flank. The soldiers of each battalion cheered as he rode by. All my troops were in high spirits. Their cheers ring in my ears to this day, the enthusiasm shown by my men made me proud.”

Obviously, there are some interesting observations even in this fragment. Any help with which memoirs this was from would be appreciated. The website does not give any sources.

Bill