Timothy and Pru take a journey on the Oxford Canal through the Cherwell Valley, meeting author Philip Pullman and their son Samuel West on the way

Timothy and Pru explore London's Union and Regent's canals, from Brentford to Limehouse, meeting with friends Andrew Sachs and Sir Ian McKellen

Timothy and Pru explore the most picturesque stretch of the Canal du Midi in the south of France, eating lamb's brain fritters and drinking 200-year-old brandy

Timothy and Pru travel through the stunning scenery of some of central Scotland's most glorious countryside, from Edinburgh to Glasgow

Timothy and Prunella go in search of London's lost canal route from Teddington, through Surrey and Sussex, and all the way to the sea at Littlehampton

Timothy West and Prunella Scales travel from Birmingham to Braunston, Northamptonshire, for a festival of canal boats and to unveil a plaque to a late friend and canal campaigner

Timothy West and Prunella Scales head to Ireland and the Shannon Erne Waterway, where they try some folk singing, Irish dancing, and visit the ruins of Crom Castle

Tim and Pru explore one of the world's great waterways - the River Nile, travelling from Luxor to Aswan, visiting a Nubian village and dancing by moonlight

Tim and Pru cross Italy's largest lake and travel down Europe's oldest working canal to Milan. Their journey includes spectacular gardens, singing and wine.

Tim and Pru embark on a voyage through canal history, as they explore the waterways of north west England - heading from the suburbs of Manchester to the great canal port at Ellesmere

Tim and Pru take a boat ride in the Argentine jungle. There's gin and tonic with some remote Anglo Argentines, hummingbirds, honey, and a spot of tango.

Tim and Pru navigate the Lancaster Canal, an early masterpiece of the waterways - travelling up along the coast of Morecambe Bay and visiting Carnforth and Lune Aqueduct

Tim and Pru embark on an epic journey along Canada's Rideau Canal, a world heritage site - from the backwoods of Ontario to the nation's capital

The intrepid 'ancient mariners' go on one last far-flung voyage, to South East Asia, travelling the waterways of Vietnam, from Halong Bay to Ninh Binh, Hoa Lu and Hanoi

Timothy and Pru complete their grand tour of South East Asian waterways on Vietnam's Mekong Delta and the world-famous Cambodian temple of Angkor Wat

Brand new boaters Sheila and Gyles embark on their tour of London's waterways, starting on the upper reaches of the River Thames - a paradise of unspoiled nature, royal retreats and river regattas

Concluding their tour of London's waterways, Sheila and Gyles journey the Lee Navigation, tackle their first manual lock and some terrifyingly tight turns, and visit the Royal Gunpowder Mills

Sheila and Gyles embark on their tour of Staffordshire's waterways, navigating the Caldon and the Trent and Mersey Canals on a pilgrimage in the Potteries and Stoke-on-Trent

Concluding their tour of Staffordshire's waterways, Sheila and Gyles take a ride on an old working boat, uncover the history of Stourport and get a taste of the Desi pub in Wolverhampton

Sheila Hancock and Gyles Brandreth are back on the barge to explore the Cambridgeshire Fens. They visit the vicarage where a children's classic was written, make a pilgrimage to Ely Cathedral to hear some medieval plainsong and try their hand at a spot of landscape painting, before ending their journey in Cambridge to pay homage to early 20th-century poetry great Rupert Brooke.

Sheila and Gyles boat from Wigan to Liverpool across the West Lancashire Coastal Plain. In Wigan, Gyles takes on the world pie-eating champion.

Sheila and Gyles journey to Stratford-upon-Avon, where Sheila performed at the Royal Shakespeare Theatre and Gyles once lived with his family.

Sheila and Gyles boat the beautiful Peak Forest Canal to Manchester, where they have a go at dry stone walling and discover the hatting history of Denton.

Tim and Pru explore the extraordinary backwaters of Kerala, with spices, dancing and a visit to a temple

Tim and Pru follow the ancient route of the Vikings, visiting Stockholm and the nearby islands of its archipelago