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Presenter Paul Martin and his team visit one of the nation's most stunning stately homes, Boughton House in Northamptonshire. Built in the 17th century, this extraordinary time capsule was virtually sealed up for nearly 200 years, containing a wealth of antiques, art, music and literature - some of which is only just being uncovered.

Also on the show, reporter Charlie Luxton visits an over-grown valley with claims to being the birthplace of the industrial revolution; Clare Balding visits a house in Yorkshire that might have been the inspiration for one of Britain's greatest romantic novels; and guest reporter Ann Widdecombe goes to Staffordshire in search of one of her own heritage passions: the escape route of Charles II.