Four Royal Marines launched a daring and extraordinary mission to rescue the body of a comrade from an enemy stronghold in Afghanistan by strapping themselves to the wings of two Apache helicopter gunships.

Coming under heavy Taleban fire, the marines went back to recover Lance Corporal Mathew Ford, who died on Monday as a 200-strong force launched a dawn offensive on the Jugroom Fort on the east bank of the Helmand River in Garmsir district. The fort had been a surveillance target for more than two months.

The 30-year-old section commander was killed by heavy Taleban fire when his unit disembarked from their armoured vehicles to attack the high-walled fort. The fierce enemy response forced the commandos to retreat to their Viking vehicles, with a further four suffering gunshot wounds. As his comrades fell back, they realised that Lance Corporal Ford was missing and vowed to go back to rescue him.

The dramatic mission involved the four soldiers being strapped to the small side wings of two Apaches – which cannot carry passengers – while a third Apache and other units covered them with cannon fire. The helicopters landed inside and outside the wall of the fort, enabling the soldiers to jump off, retrieve the Lance Corporal’s body and strap it to one of the aircraft.

Lieutenant Colonel Rory Bruce, UK Task Force spokesman, described the heroic mission as a "leap into the unknown".

"This is believed to be the first time UK forces have ever tried this type of rescue mission," he said. "It was an extraordinary tale of heroism and bravery of our airmen, soldiers and marines who were all prepared to put themselves back into the line of fire to rescue a fallen comrade. And it was with great sadness they later found their brother-in-arms had been killed in action."

He later told Sky News that the soldiers had been under fierce fire as they approached the fort, but remained determined nonetheless not to leave the scene without their colleague. "It was just extraordinary," he added.

Lance Corporal Ford, of 45 Commando Royal Marines, was the only fatality sustained by the UK Task Force during the battle, but there were four other casualties who are in a stable condition. The oldest of three brothers, he was brought up in Immingham, Lincolnshire, where his mother and stepfather still live, but had moved to Dundee, where he shared a flat with his fiancée, Ina.

Described as a "gentle giant", he joined the Royal Marines in 2001 but was thinking about leaving the service to settle down and have a family, the MoD said.

His mother Joan said: "We are all devastated by the news of Mathew’s death. He was a larger than life character who lived his life to the full. He was a wonderful son to me and brother to Thomas and Scott and was looking forward to his future with Ina. His love for life and his ability to make everyone laugh will always be with us."

Brigadier Jerry Thomas, commander of the UK Task Force, said: "I know that this is a very difficult time for his family and his friends, but I do want to convey my sincere condolences and let them know that our thoughts are very much with them."

Lance Corporal Ford’s commanding officer, Lieutenant Colonel Duncan Dewar RM, said the serviceman’s "professionalism, reliability, and selflessness as well as his sharp wit marked him out from the crowd".

"He was an excellent Royal Marine and promising Junior Commander who died doing the job he loved and will be sorely missed by all his friends in 45 Commando," he said.

Des Browne, the Defence Secretary described the death as "tragic news". He said: "I understand Lance Corporal Ford was on an important operation against the Taleban, and he was making a vital contribution both to defending our country and the people of Afghanistan."

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