(I see this question has been asked before for a small cavalier on a wolf, but most of the answers were dismissive given the smaller stature. This is another try with a larger context.)
Sir Example is a human cavalier riding a warhorse. He has a lance in one hand and a scimitar in the other.
Can Sir Example use his scimitar to attack a prone opponent in an adjacent square?
(In a similar thread, many players suggest a house rule of giving a -2 penalty to hit, representing an awkward, downward lunge)
Can Sir Example use his lance to attack a prone opponent in an adjacent square?
Sir Example's shoulders would be about 7.5 feet off of the ground, give or take a foot for comfortable arm movement. Along with the 5 feet away from his opponent, the distance from Sir Example's hand to the ground would be between 8 and 9 feet.
It seems to me like he should be able to attack with the lance. But the rules-as-written disagree.
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Yes, I've thought about the same scenario and come to the same conclusion: he's inside your reach with the lance, so you can't do it with the lance. Choosing to penalize the rider who bends, or "lunges," down with his scimitar is fine for a house rule, I guess, but RAW says nothing of the kind. Don't forget your +1 for higher ground.