Tony Robinson heaves on his backpack for the final leg of his 190-mile journey across England.

On the North York Moors, he hops aboard a steam train on the heritage North Yorkshire Moors Railway.

A detour sees Tony granted access to RAF Fylingdales, a futuristic-looking radar station that’s kept an eye on our skies for more than 50 years, before he carries on to the coast.

In Whitby, Tony visits a bakery that’s been in the same family for five generations, and fulfils a lifelong dream of going whalewatching. Then it’s on to the end of the road: Robin Hood’s Bay.

A wonderful journey that has us itching to retrace Tony’s steps!