From Lafayette wiki:

Lafayette was born into a wealthy land-owning family in Chavaniac in the province of Auvergne in south-central France. He followed the family's martial tradition and was commissioned an officer at age 13. He became convinced that the American revolutionary cause was noble, and he traveled to the New World seeking glory in it. He was made a major general at age 19 but was initially not given American troops to command. He fought with the Continental Army at the Battle of Brandywine near Chadds Ford, Pennsylvania, where he was wounded but managed to organize an orderly retreat, and he served with distinction in the Battle of Rhode Island. In the middle of the war, he returned home to France to lobby for an increase in French support for the American Revolution. He returned to America in 1780 and was given senior positions in the Continental Army. In 1781, troops under his command in Virginia blocked a British army led by Lord Cornwallis until other American and French forces could position themselves for the decisive siege of Yorktown.

Lafayette returned to France and was appointed to the Assembly of Notables in 1787, convened in response to the fiscal crisis. He was elected a member of the Estates General of 1789, where representatives met from the three traditional orders of French society: the clergy, the nobility, and the commoners. After the National Constituent Assembly was formed, he helped to write the Declaration of the Rights of Man and of the Citizen with Thomas Jefferson's assistance. This document was inspired by the United States Declaration of Independence, which was authored primarily by Jefferson, and invoked natural law to establish basic principles of the democratic nation-state. He also advocated the abolition of slavery, in keeping with the philosophy of natural rights. After the storming of the Bastille, he was appointed commander-in-chief of France's National Guard and tried to steer a middle course through the years of revolution. In August 1792, radical factions ordered his arrest, and he fled to the Austrian Netherlands. He was captured by Austrian troops and spent more than five years in prison.