For more than 5,000 years, a network of ancient tracks has been in use across Britain, connecting communities. Tony Robinson, who must surely by now have walked more miles around the UK than any other TV presenter, returns for a second series of jaunts, exploring these paths and the mysteries and legends that lie beyond them.

Tony begins in Dartmoor, following in the tracks of Sherlock Holmes.

Along the way he encounters the mystery of a reputedly bottomless lake and meets a four-legged beast.