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Control Mount in Battle: As a move action, you can attempt to control a light horse, pony, heavy horse, or other mount not trained for combat riding while in battle. If you fail the Ride check, you can do nothing else in that round. You do not need to roll for horses or ponies trained for combat.
pg. 104 in the core rulebook 8th paragraph down
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A DM asked me a Riding test of 10 to drive my cavalier's steed to battle. But I think I need only a 5, being a battle-trained animal and having a link with it.
Two checks apply if you want the mount to make attacks:
- Handle Animal DC 10 as a free action to order the mount to perform the attack trick (or DC 25 as a move action to attack anything other than a humanoid, monstrous humanoid or animal unless it has the attack trick twice)
- Ride check DC 10 each round for you to take your attacks.
You don't need either of these if the mount just carries you into battle and only you attack. You don't have to control the mount in battle because it's trained for combat.
The Link ability gives you a +4 on Handle Animal checks applied to your mount and adjusts the type of action that you need for them. It doesn't modify Ride checks.