One of the ancient walkways of Britain starts in Winchester and finishes in Canterbury. It's known as the Pilgrim's Way. Pilgrims are a bit thin on the ground now but people still get out their boots and do the walk for fun. Dennis Skillicorn and playwright Peter Terson decide to join them but they will be travelling in Peter's gypsy wagon. Their companions on the journey are Marcus the horse and his friend Toby the donkey. In this first programme they prepare for the trip and explore a little of Winchester.

Peter and Dennis, with their horse Marcus, and Toby the donkey, leave St Cross on the first stage of their journey to Canterbury. They encounter the urgency of rush-hour traffic near Winchester, but soon the serenity of the riverbank and the tranquility of the fields where they meet the river keepers and the farm workers, restore their spirits. With only the occasional mishap to mar their day, they eventually reach their overnight stop near Alresford.

Peter and Dennis, with their horse Marcus and Toby the donkey, leave Alresford. Dennis decides to take a trip on the old steam railway, leaving Peter to plod on alone. They meet up at Four Marks, visit Jane Austen 's village of Chawton and finish this stage of the journey at Binsted.

Peter Terson and reporter Dennis Skillicorn travel by gypsy wagon along the old pilgrims' route from Winchester to Canterbury. The day starts badly when their horse Marcus throws a shoe. But they're soon on the road again, crossing from Hampshire into Surrey near Tilford, where they find some of England's heritage. And at Seale, near Guildford, it's time to stop for the night.

Peter and Dennis leave the village of Seale, pass through Puttenham, Compton, Shalford and Albury. Toby the donkey eats their breakfast, Dennis cycles part of the way, and they finish the day with a struggle.

Dennis visits Abinger Hammer and rejoins Peter at Ranmore Common. It rains for the first time but they still manage to struggle to the top of Box Hill. They make a detour south and stop the night at Outwood Mill.

Peter and Dennis visit a village fete and Toby the donkey takes part in a 'derby'. Peter and Dennis are given a ride in a more sophisticated horse-drawn carriage and they eventually cross the county border into Kent and finish the day at the village of Chevening.

Peter and Dennis depart from Chevening on their way to Wrotham, during which time they get some tips from a master saddler, swap reminiscences with a retired traveller of the roads, are overtaken by a group of hikers, and discover why bell-ringers need a mathematical mind.

Peter and Dennis visit Aylesford Priory and join in the fun of the annual Maidstone Carnival. Rejoining the Pilgrims' Way at Thurnham they pass through Hollingbourne and find a camp site where they meet up with a genuine gypsy family, who tell the travellers what it is really like to spend a life on the road.

Peter Terson , Dennis Skillicorn , Marcus the horse and Toby the donkey finally make it to Canterbury. They start the day at a cider farm and visit the village of Chilham, where they find out about birds of prey. In Canterbury they become lost but a local rag and bone man helps them find their way to journey's end.