Travel south to the Exmoor National Park. First stop of the day is Dunster, a medieval village overlooked by a castle, which you can view as you wander the village.

You continue along the coast through the National Park, through more quaint seaside towns. We'll make a stop in one of these gorgeous villages nestled in the hills, where you'll have time to explore and grab some lunch.

After lunch, you continue through the valley to visit Tintagel Castle. Situated dramatically on the rugged cliffs of a Cornish peninsula, this medieval ruin is one of the most awe-inspiring historic sites in the region. A rumoured birthplace of King Arthur, you take a step into myth and legend as you make your way along the cliffs into this majestic ruin.

Please note that due to its rugged coastal location, Tintagel Castle is accessible only on foot. The route includes steep steps, slopes, sheer drops, and uneven surfaces, which may be challenging for some visitors.

We depart Tintagel and head for the coastal city of Falmouth, our overnight base for the next two nights. As well as its nautical history, Falmouth is today known for being a hub for arts and culture. You can wander the streets at your leisure; enjoy the setting sun over the sea, as you sample some of the best seafood in the country.