Tony hikes across Dartmoor in the footsteps of Britain's greatest detective, plunges into a reputedly bottomless lake and comes face-to-face with a four-legged beast.

Tony uncovers a prehistoric shark tooth, shines a light in an abandoned railway tunnel and discovers DH Lawrence's mountain retreat in the Peak District.

Tony follows the Roman road of Dere Street north through Hadrian's Wall, contemplates the ancient night sky, braves the roar of a Celtic horn, mixes medieval potions and encounters ancient invaders.

Tony walks Offa's Dyke in the footsteps of William Wordsworth, encounters Wales's fearsome dragon and ponders the priceless gold coin issued by King Offa in praise of Allah.

Tony explores the mysteries and legends of the Icknield Way's prehistoric mines, hidden caves, demonic dogs and mysterious ley lines, as he travels from the Norfolk coast to Bedfordshire's hills.

Tony follows in the tracks of Celtic chariots, explores a burial chamber that's older than the pyramids of Egypt and uncovers the secrets of a great white horse as he travels along the Ridgeway.

For his final journey of the series, Tony Robinson travels along the North Downs Way visiting one of Britain's oldest oak trees, a shrine of Thomas Becket and a lost Roman battle site.