Fiona Bruce visits Buckingham Palace, and reveals how England's most spectacular palace emerged from a swampy backwater in just 300 years. The journey of discovery takes her from the sewers of London to the magnificent State Rooms.

Fiona Bruce visits Windsor Castle, the world's oldest inhabited castle, dating back to the 11th century. Taking more than a thousand years to reach its familiar look, it has been a fortress, a home to medieval chivalry and a baroque palace.

Britain's least well-known royal palace and yet probably the most romantic, Edinburgh's Palace of Holyroodhouse sits in the shadow of the dormant volcano Arthur's Seat. It is also one of Britain's smallest palaces.