Reporter Lucy Adams investigates why four young men have been locked in secure hospitals for years despite committing no crime. She meets the families struggling to get their loved ones home and hears the stories of those with autism and learning disabilities desperate to get out of a system they don't understand.

More than 20 years after it was agreed no one should be living in hospital, she looks at why hundreds of people are still stuck behind locked doors, sometimes for decades. Ministers have promised to get most people home by March 2024, but is that going to happen?