At Her Majesty's Service

Penelope starts her journey in England at the Queen's much-loved residence, Windsor Castle. She discovers one of Windsor's best kept secrets, and, along the way, meets people with royal and extraordinary jobs, including the The Royal Herb Strewer.

Penelope visits the Queen's official Scottish residence, The Palace of Holyroodhouse, where she delves into the drama that surrounds the Palace's most famous resident, Mary Queen of Scots.

Penelope continues her journey in Northern Ireland, visiting the Queen's official Royal residence, Hillsborough Castle, where she meets the longest serving members of the household and the Queen's bugler. Venturing beyond the castle to the Northern Irish Preservation Society, Penelope uncovers an unexpected treasure from The Queen's 1953 Coronation Tour.

On the final leg of her journey, Penelope travels to Wales where she visits Caernarfon Castle, where Prince Charles was invested as Prince of Wales back in 1969. As an owner of corgis herself, Penelope enjoyed meeting champion Welsh dog breeders who have supplied the Queen with some of her most loyal subjects - her pet corgis.