I enjoyed very much reading the trilogy from Tim Severin about the adventures of Thorgils, son of Leif Ericsson. The books cover his life from his childhood in Greenland to his adventures as a slave and a courtier in England, his move to the continent and living in Constantinople until he goes back to the North.
The protagonist is not a fearless hero nor an incredible warrior. His approach is mostly quiet and diplomatic, while using his talent to learn languages, and also his second sight on some rare occasions.
Although the books are fiction, some parts are based on legends and stories from the epoch, and the historical environment looks correct, at least for someone who is not a historian.
These are longish books and took me some time to finish them all, but I can recommend them if you are interested in history.