In this 3-part documentary series, Lucy Worsley travels across Britain and Europe visiting the locations where royal history was made. In palaces and castles and on battlefields she investigates how royal history is a mixture of facts, exaggeration, manipulation and mythology.

Judith, a struggling artist, gets her dream job of working for a renowned visual artist named Roberta Roslyn. While cataloging Roberta's work she is shocked to keep seeing a girl who closely resembles herself, she learns that this girl is actually her boss's missing daughter Maddy. As she investigates the mystery of just what could have happened to this girl, she starts to develop a new persona and it comes to a point where she must decide if she is to leave her job or continue and risk losing who she is.

Hector has been living on the motorways for years. His once comfortable family life has been replaced by a never-ending tour of service stations that offer him shelter, anonymity, washing facilities and food. The story follows his journey south from Scotland on his annual pilgrimage to a temporary Christmas shelter in London where he finds comfort, friendship and warmth. Over the course of his Homeric journey, Hector decides to reconnect with his long estranged past. As his previous life catches up with him, the story of how he came to be leading a marginal life begins to emerge.

The story of Claire Randall, a married combat nurse from 1945 who is mysteriously swept back in time to 1743, where she is immediately thrown into an unknown world where her life is threatened. When she is forced to marry Jamie, a chivalrous and romantic young Scottish warrior, a passionate affair is ignited that tears Claire's heart between two vastly different men in two irreconcilable lives.