story identification - What Sci-Fi book (1987 or older) had Aliens conquer earth and made Humans their slaves?

I have been trying to recall the title of a book I read about 25 years ago (1987), I have tried to find it again a couple of times over the years without any luck.

The story takes place on earth, which has been invaded and conquered by aliens. The humans have become servants or slaves. One of the primary human characters is the human servant of an alien leader.

If I remember correctly, the aliens are much bigger than humans, I keep thinking of horses or elephants for some reason with regard to the aliens. At the end, somehow the human slaves have forced the aliens to abandon their conquest of earth, but I don't remember exactly why.

I think it was something to do with simply refusing to be obedient, which the aliens could not comprehend, but I'm not sure about that. I think the book ends with the alien leader (and the rest of the aliens) blasting off from earth in a rocket.

Does anyone recognize what book I'm referring to?

Thanks for any help!

Answer

Way of the Pilgrim (1987) by Gordon R Dickson....maybe

Shane, a gifted linguist, has spent his life learning the language of the old and powerful alien race that has conquered Earth. He has learned it so well that the interstellar masters, old hands at enslaving planets, regard him as a valuable servant. But Shane has a secret. One day, in a rebellious moment, he invented The Pilgrim: a mysterious figure who incites rebellion and vanishes unseen, leaving a distinctive icon behind him. Now the human underground is preparing to rebel. Shane knows how hopeless their rebellion will be. He knows, as well, that he will be unable to keep himself from taking part.

Its been a long time since I read this one but if my memory is right I believe the aliens are much larger than humans and see humans as inferior and at the end of the book the aliens leave Earth as the humans are too belligerent to be "helped". Below is a link to a short review I found online, it doesnt give away much but it may help you decide if this is the book your after.

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