This duel took place on the planet Dagobah some months after the Battle of Hoth, between Darth Vader and the combined force of the Jedi Master Yoda and his student Princess Leia Organa. During the confrontation, Vader learned that Organa was in fact his daughter and that his son, Luke Skywalker, had died months before on Hoth. Vader was eventually blasted and killed by Han Solo and Chewbacca.
Leia in her Jedi apparel while fighting her father.
Behind the scenes
This duel appears in the Infinities comic Star Wars Infinities: The Empire Strikes Back, and thus is non-canon. The story represents an alternative scenario for Star Wars: Episode V The Empire Strikes Back in the event that Luke Skywalker dies from his wampa encounter on Hoth.