Penelope Keith at Her Majesty's Service season 1 episode 1
Episode title: Windsor
Penelope travels around the country to visit the Queen's official residences and meet people with royal appointments. The journey begins in Windsor Castle, where she finds out about Britain's oldest order of chivalry, meets the Royal Herb Strewer and unearths a box of treasure dating back to Elizabeth I. She also takes a trip up the Thames in the gilded barge Gloriana.
