In this episode, we discover how Windsor today is a bit like an upmarket housing Estate, with Charles and Camilla in the castle itself and Kate and William and Prince Andrew and Fergie residing in the grounds. You can hardly move for Royals when it comes to the Windsor Estate.

We turn back the clock to discover how the castle transformed from humble beginnings as a defensive tower, to become the palace of one of the most indulgent monarchs in history – Henry VIII, and then his daughter Elizabeth I. Under Henry's tenure there were outrageous goings-on in the King's Windsor bedroom as Henry paid secret visits to his mistress, Anne Boleyn.

We become intimately acquainted with Tudor royal protocol, finding out about the duties of a surprising member of castle staff: the Groom of the Stool, who dealt with the King's toilet habits.

We discover how when Elizabeth I moved in she introduced some of the latest trends to Windsor and spent a fortune modernising.

We discover King Charles' simple Windsor mealtime preferences and exactly what was eaten by the gluttonous Henry hundreds of years earlier when they expected nothing less than a staggering 40 dishes a day, ranging from the more familiar game and venison, to roasted peacock, swan, and even beaver's tails.

The most in-love couple in royal history move into the castle – Queen Victoria and her husband Prince Albert. After honeymooning at Windsor they fall in love with the place, almost as much as with one another and decide to make it their family home. As the man of the house, obsessed with all things new, Albert drags the castle into the 19th century, including updating it with a modern sewer system and 139 flushable toilets.

Xand Van Tulleken tries out the Victorian facial fashion fad that had the queen all a flutter at Windsor, while JJ Chalmers reveals the surprising castle tradition that spread across the world.

But Victoria and Albert's relationship comes to a tragic end at Windsor when the Queen's husband dies aged just 42. As Victoria plunges into deep mourning, living as a near recluse at the castle, she is nicknamed the Widow of Windsor. And it seemed nothing could pull the Queen out of her sorrow… or could it? Raksha Dave finds out.