Secrets of the Royal Palaces

Buckingham Palace is known throughout the world as the headquarters of the royal family, and is one of our most recognisable palaces.

Behind-the-scenes tales from the Palaces of Westminster, with the State Opening of Parliament the event where royalty and democracy come together. The Prince's Chamber was specially built for Queen Elizabeth II to rest before entering the Lords and taking her seat on the palace's royal throne, while a secret tunnel hidden behind the ancient walls is explored. Other stories featured include a hologram portrait of Elizabeth II and how Charles II dabbled in cannibalism.

Windsor Castle is the largest permanently lived-in castle in the world, and it's still packed with secrets. Plus, when Princess Margret died in 2002, her family were left with a £3 million pound tax bill.

Exploring Greenwich, the great lost palace, including Henry VIII's wine cellar and the Queen's house. Plus, a look at how In 2010, Prince Charles and Camilla found their limo in the middle of a riot.

The history of Hampton Court's Great Hall, a huge dining area built by more than 400 stonemasons, bricklayers, carpenters, joiners and labourers that was also used by Henry VIII to keep an eye on his household. Plus, a look at the 2002 Golden Jubilee Party, which was held in the grounds of Buckingham Palace and is considered to have changed the public's perception of monarchy.

Behind-the-scenes tales of St James's Palace, which was built between 1531 and 1536 on the orders of Henry VIII and is the business centre of the royal family. There is a look at the history of Fabergé eggs, of which the Royal Collection contains three, and Kate Williams explores more gruesome stories of palace history, including the horrific story of what happened to Catherine Parr's body, and how giving birth in a palace became a spectator sport.

Behind-the-scenes tales of Osborne House on the Isle of Wight, which was bought by Queen Victoria and Prince Albert in 1840 and was turned into their perfect renaissance hideaway. Kate Williams goes on a culinary adventure and tries traditional Tudor cuisine, including snails and pigs' feet, while the horrors of the palaces' bedding ceremony is revealed, where a royal bride is observed on her wedding night to make sure the marriage is consummated.

Behind-the-scenes tales of Kensington Palace, which started out as Nottingham House until it was bought in 1698 by William III and transformed into a royal residence after a major renovation. Kate Williams explores some of the more gruesome pieces of palace history, including the grim death of Henry Stuart, the murder of Amy Robsart to clear a path for the queen, and the amazing story of Eleanor Cobham, the `Royal Witch".