Paul visits Cragside House in Northumberland, home to one of Victorian Britain's least remembered inventors, Lord William Armstrong, who paved the way for domestic electricity.

Charlie Luxton spends the night in Lincoln Castle, in a 19th century prison that was closed down 130 years ago; Clare Balding travels to North Yorkshire to visit one of the country's most beautiful and obscure ruined abbeys, and guest reporter Charley Boorman uncovers the sunken remains of Britain's very first submarine.

Presenter Paul Martin and his team visit one of the nation's most stunning stately homes, Boughton House in Northamptonshire. Built in the 17th century, this extraordinary time capsule was virtually sealed up for nearly 200 years, containing a wealth of antiques, art, music and literature - some of which is only just being uncovered.

Also on the show, reporter Charlie Luxton visits an over-grown valley with claims to being the birthplace of the industrial revolution; Clare Balding visits a house in Yorkshire that might have been the inspiration for one of Britain's greatest romantic novels; and guest reporter Ann Widdecombe goes to Staffordshire in search of one of her own heritage passions: the escape route of Charles II.