In this episode, we discover how Windsor today is a bit like an upmarket housing Estate, with Charles and Camilla in the castle itself and Kate and William and Prince Andrew and Fergie residing in the grounds. You can hardly move for Royals when it comes to the Windsor Estate.

We turn back the clock to discover how the castle transformed from humble beginnings as a defensive tower, to become the palace of one of the most indulgent monarchs in history – Henry VIII, and then his daughter Elizabeth I. Under Henry's tenure there were outrageous goings-on in the King's Windsor bedroom as Henry paid secret visits to his mistress, Anne Boleyn.

We become intimately acquainted with Tudor royal protocol, finding out about the duties of a surprising member of castle staff: the Groom of the Stool, who dealt with the King's toilet habits.

We discover how when Elizabeth I moved in she introduced some of the latest trends to Windsor and spent a fortune modernising.

We discover King Charles' simple Windsor mealtime preferences and exactly what was eaten by the gluttonous Henry hundreds of years earlier when they expected nothing less than a staggering 40 dishes a day, ranging from the more familiar game and venison, to roasted peacock, swan, and even beaver's tails.