Subject question

Is using 'their' in the second sentence to refer to Raistlin, Camaron and their companions correct? During the journey south, Raistlin and his companions were attacked by a group of bandits led by the half-ogre Steeltoe. After defeating Steeltoe in single combat, Caramon rallied the brigands to their cause and began the formation of the army of Fistandantilus, whose mission was to march on Thorbardin and raid the dwarven kingdom for its riches.