Buckingham Palace may be just about the most famous building in the world, but its story is much less familiar. Fiona Bruce reveals how England's most spectacular palace emerged from a swampy backwater in just 300 years. The journey of discovery takes her from the sewers of London to the magnificent State Rooms; from a home for camels and elephants to the artistic brilliance of C18th-century Venice; and from a prince's Chinese fantasy to the secret of how the Palace's glittering chandeliers are cleaned today.

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.

Fiona finds out more about the past of Edinburgh's Palace of Holyroodhouse. she also takes a look at objects including the Darnley jewel, which features numerous hidden messages, and the needlework of a queen who had a doomed future.