Four Battles of the Ancient World (1992)

Includes:

Arbela - Alexander vs. Darius
Cannae - Roman Consul Varro vs. Hannibal
Pharsalus - Julius Caesar vs. Pompey
Teutoburger Wald - Roman Govenor Varus vs. Germanic Tribes

Each battle has its own scenario, map and 100 counters. Introductory, Basic and Advanced Rules.

Also available as a box set with other volumes:

Battles of the Ancient World Volume II
Battles of the Ancient World Volume III