A United Nations agency that monitors incidents said earlier this year that an increase in settler violence had occurred alongside a major rise in Palestinian attacks against Israelis, the vast majority of which involved stone-throwing at vehicles.
Earlier in the day, an Israeli settler shot and killed a Palestinian man in the West Bank, in what the Israeli army said was a response to an attack by Palestinians throwing rocks, an account that Palestinians denied.
One of the Israeli escorts suffered a light head wound.
Palestinian farmers are often targets of Israeli settler aggression, with them commonly attacking Palestinians tending their land.
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The Samaria Regional Council said the incident was an attempted lynching in which some 100 Palestinians took part.
The soldiers also invaded 'Aseera al-Qibliyya nearby town, and clashed with many Palestinians, before firing live rounds, gas bombs and rubber-coated steel bullets at them. They were later rescued by Israeli security forces. "Our lives were in danger, as [the Palestinians] threw rocks and boulders at us", he said.
According to human rights activists, the slain Palestinian was working in his field when he was shot, and the mob only arrived at the scene later.
"The investigation is continuing and police units are searching for the suspect who fled the scene", said a police spokesman. Israel says majority were attackers and that others died in clashes with Israeli forces.
It was not immediately clear if the Israelis coordinated their hike with the military, as is generally required in the West Bank.