Richmond (North Yorkshire)

This is within the former Trinity church. The Green Howards was an infantry regiment raised in 1688 and serving until 2006, when it was merged into the Yorkshire Regiment. The museum depicts its long history and connections to the town.

Built by the Normans in the 11th century, the castle was never assaulted and fell out of use in the 14th century. From the 1850s it was repaired as a barracks and militia base. From 1908 to 1910 it was the residence of Robert Baden-Powell as commander of the Northern Territorial Army; he later founded the Boy Scout movement. In the First World War, it held conscientious objectors who were set to local work, and imprisoned those who refused this. The "Richmond 16" were even sent to France, court-martialled and sentenced to be shot, but this was commuted. The castle is now maintained by English Heritage.

Small but jam-packed museum of local history.

The Abbey of St Agatha was founded in 1152, part of the Premonstratensian order. It was abandoned at the 1530 dissolution of the monasteries and fell into ruin. It's now maintained by English Heritage. You can reach it by a one-mile walk along the riverbank from Richmond, or by road.

This was built in stone from 1190, replacing a wooden castle, and guarded the Ripon-Richmond road. For some years in the 1460s it was the childhood home of the future Richard III (1452-85) - his parents were Yorkists who'd fled abroad as they were losing the War of the Roses. Richard spent little time here during his two year reign; his death at the Battle of Bosworth marked the end of the wars and of the Plantagenet dynasty. His victor Henry VII seized the castle but he and his successors had little use for it and it fell into ruin. The castle masonry was recycled into other buildings but it remains a substantial ruin, now managed by English Heritage.

This runs from Leeming Bar near Northallerton to Bedales, Leyburn and Redmire. It's often steam-hauled (check timetable for steam days) and you can even arrange to work alongside the driver.