Court of Fives by Kate Elliott

Totally fun to read young adult fantasy novel! Jessamy and her 3 sisters have lived sheltered lives as Patrons with their lovely mother, who is a commoner, and their father who is a Patron war general.  While her father is away at war, Jess has often sneaked out and learned to be a competitor in the game of Fives, an athletic event in five sections rather like the American Ninja Warrior course.  Then her father comes home unexpectedly, and Jess is recognized competing in her first Fives game.  There is action and romance as she is thrust into a new life and must rescue her mother and sisters with the help of a handsome prince.