I think you will find Boadicea did lead from the front. There may have been others, but she definitely led the charge:
“ She slaughtered a Roman army. She torched Londinium, leaving a charred layer almost half a meter thick that can still be traced under modern London. According to the Roman historian Cornelius Tacitus, her army killed as many as 70,000 civilians in Londinium, Verulamium and Camulodunum, rushing ‘to cut throats, hang, burn, and crucify. Who was she? Why was she so angry?”
“For a society as patriarchal as imperial Rome, the fact that a woman had succeeded in killing so many Romans was disconcerting to say the least.
“Two cities were sacked, eighty thousand of the Romans and of their allies perished, and the island was nearly lost to Rome. Moreover, all this ruin was brought upon the Romans by a woman, a fact which in itself caused them the greatest shame,” wrote Dio.”
(translation by Earnest Cary, through penelope.uchicago.edu)
Dio (unlike Tacitus) doesn’t mention the flogging of Boadicea, or the rape of her daughters that fueled her rage against the Romans.