Episode 1 - Windsor
At the Queen's much-loved Windsor Castle, Penelope finds out about the Knights of the Garter, visits the Royal Herb Strewer and meets the Queen's Bargemaster for a trip along the River Thames.
Episode 2 - Inveraray and Holyroodhouse
Penelope's tour continues through Scotland at Inveraray and Holyroodhouse, where she visits the bedchamber of Mary Queen of Scots. She also meets the Royal Falconer at Borthwick Castle.
Episode 3 - Hillsborough Castle
In Northern Ireland, Penelope meets the Queen's bugler and uncovers an unexpected treasure dating back to the Coronation.
Episode 4 - Caernarfon Castle
On the final leg of her journey, Penelope visits Caernarfon Castle in Wales, where she meets a royal harpist, champion dog breeders and is serenaded by a male choir.