Tim and Pru travel along the 21-mile Kennet and Avon canal, from Bath to Devizes, meeting canal-side characters and wildlife along the way

Prunella and Tim travel the Rochdale canal, past once mighty mills, the epic beauty of the Pennines and the longest and highest canal tunnel in Britain

This third canal journey takes Pru and Tim back to their honeymoon destination, Llangollen, in North Wales

For the last stage of Tim and Pru's canal odyssey, they head to France's Burgundy region to visit the Canal du Nivernais, which runs through some of the most picturesque scenery in northern France

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

Tim and Pru set forth from Gothenburg on the first half of the Göta Canal, one of the longest and most beautiful waterways in the world, travelling 350 miles, coast to coast across Sweden

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

Timothy and Prunella take a trip down the Stratford-upon-Avon Canal, one of Britain's most picturesque waterways, and also pay tribute to William Shakespeare

Tim and Pru travel to Venice, following the route once taken by Casanova and Byron, escaping the crowds of St Mark's to find tranquillity as well as beauty

Tim and Pru travel to the Netherlands, exploring the canals from the Windmills of the Kinderdijk to the vibrant city of Amsterdam

Tim and Pru take another journey into their pasts, via the Leeds and Liverpool Canal, which celebrates its 200th anniversary in 2016

With Tim playing King Lear in Bristol, he and Prunella Scales tour the city and also some West Country waterways further afield, including Devon. They also take a paddle steamer.

Tim and Pru cross the Scottish Highlands on a sun-kissed voyage along the spectacular Caledonian Canal, a waterway that links the North Sea with the Atlantic

Tim and Pru island-hop their way through the Hebrides, visiting Tobermory, Iona, the Isle of Jura, and lastly the magical nine-mile Crinan canal

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.