Highclere Castle is perhaps best known as the backdrop to the hit drama Downton Abbey, but it has its own thrilling real-life tales to tell. It has been the real-life home of the Carnarvon family for centuries and has entertained kings and queens.

Earl Spencer leads us on a fascinating and very personal tour of Althorp House, the childhood home and final resting place of his sister: Diana, Princess of Wales.

Chatsworth Estate has been passed down by 16 generations of the same family. It's the real-life Downton Abbey.