Even though it was not the policy, the Dutch were waiting for the English to close, running in a rough line, sailing close-hauled. They tacked as they neared the Kentish Knock, so the Dutch and English were sailing on opposite tacks, at the start of the battle. This was when the James (66 guns) and the Sovereign (90 guns) ran aground. Fortunately, they were able to get off, and then tacked to sail to the southeast.
The English were caught in a bad situation, as Witte de With concentrated against Blake, and the few ships with him. The majority of the Dutch fleet, including De Ruyter's squadron, concentrated against Bourne's squadron. Captain Badiley, brother of the Mediterranean commander, got in trouble, and was only rescued when the Speaker and her companions broke through the surrounding Dutch ships.
Then the tide turned against the Dutch, and they retreated after have Jan Noblet's ship, the Burgh van Alkmaar (24 guns) sunk and Claes Sael's ship, the Maria (30 guns) captured. The great East Indiaman, the three-year old Prins Willem first lost her mainmast, and then foremast. Witte de With moved back to his regular flagship, the Prinses Louise.
Witte de With had wanted to renew the battle the next day, but the council of war was opposed, so they headed home. Michiel De Ruyter was opposed, and that was that. This was the beginning, in the First Anglo-Dutch War of the relationship between Witte de With and Michiel De Ruyter. At Dungeness, when Witte de With went ashore, too ill for sea, Michiel De Ruyter commanded De With's squadron.