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Fiona Bruce visits Windsor Castle, the world's oldest and largest 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, a baroque palace, and finally a romantic fantasy.

From the bowels of the castle to the heights of the battlements, Fiona encounters all manner of royal treasures - from the musket ball that killed a naval hero to table decorations in gold and silver and encrusted with jewels; from the triple-headed portrait of a king who lost his head to Queen Mary's dolls' house with running taps, and a secret garden hidden in a drawer. All of this was almost lost in the disastrous fire of 1992.