Windsor Castle has a legendary connection to the British monarchy: the longest-serving royal palace in the whole of Europe. Ever since the days of William the Conqueror, the Castle has dominated this strategic point on the banks of the Thames, overlooking west London. Over the next 1,000 years kings and queens would invest lavish amounts in its development. As a result, today it is one of the most magnificent sites in the British Isles. In this programme, curator Kate Heard provides Dan an exclusive tour of the Castle's beautiful interior.