Except in the circumstances noted below, a character who is part of a unit of troops can leave during the movement phase. A character is able to leave one unit of troops and join another if you so wish, but note that he is unable to join and leave the same unit in a single turn.
A character may never leave a unit of troops while it is subject to some compulsory movement rule. For example he cannot leave a unit which is fleeing, which has declared a charge, which has rallied that turn (because it cannot move) or which is engaged in hand-to-hand combat.
If a unit declares a charge any characters included in it must charge too. Once hand-to-hand fighting has begun a character will not be able to leave a unit he has joined until all the fighting is over and any compulsory movement such as fleeing and pursuit has been resolved.
A character cannot leave a unit he is with by charging unless obliged to do so by some psychology rule (such as Frenzy) or other special rule. As he is part of the unit when charges are declared he cannot be treated as a separate unit in his own right.