Nero Claudius Drusus, also known as Nero Claudius Drusus Germanicus or Drusus the Elder, brother of Tiberius and stepson of Augustus, campaigned extensively in Germania east of the Rhine until his untimely death in 14 BCE. Adrian Murdoch, in his Rome's Greatest Defeat: Massacre in the Teutoburg Forest, one of our chat subjects on March 18 and April 1, gives us quite a bit of information about Drusus, and his German campaigns.
Suetonius, in The Life of Claudius, devotes some space to Drusus, Claudius' father.
A map of Drusus' German campaigns and the location of the various tribes (handle with care):
The "Drusus-Kenotaph" or "Drusus-Stein," locally also called the "Eichelstein," at the Citadelle of Mainz, Germany, more here.
Images courtesy Wikimedia Commons