Auld Kirk House

Floors Castle is the seat of the Duke of Roxburghe, near Kelso in the Scottish Borders. Despite the name it is an estate house rather than a fortress, designed by William Adam in the 1720s and later given its turrets and battlements by William Playfair.

Tip: Different parts of the estate open at different times, so check the Floors Castle website for what is open and how to enter before you set off.

Mellerstain House is a Borders country house, and one of the first buildings Robert Adam designed in his 'Castle' style. Guided tours take you through rooms with his delicate plasterwork ceilings and wall decoration. The library is the finest of them. On the top floor, the gallery displays costumes, fans, embroideries and documents.

Tip: The house is open for tours only part of the year, while the gardens stay open year-round, so check the Mellerstain website before you set off.

Britannia was the royal yacht of the British monarchy from 1954 to 1997, travelling more than a million nautical miles to ports in 135 countries. Now retired, she is permanently berthed at Ocean Terminal in Leith, Edinburgh, and you tour her five decks at your own pace with an audio guide available in 36 languages, plus BSL/ASL and Braille options.

Tip: Book tickets online in advance to save money, and allow about 2 hours; the tour starts on the second floor of Ocean Terminal, which has a free multi-storey car park.

Manderston is an Edwardian stately home near Duns in the Scottish Borders, remodelled by architect John Kinross with no expense spared. The opulent state rooms include a ballroom and a marble hall, and the house has the only silver staircase in the world. You can also see the extensive "downstairs" domestic quarters, and the world's largest collection of Huntley & Palmers biscuit tins.

Smailholm Tower is a 15th-century tower house near Kelso, in the care of Historic Environment Scotland. It is a remarkably complete laird's residence that still stands roofed and floored, perched on a crag with wide views over the surrounding countryside.

Tip: Book your visit online in advance for a specific date and time, and consider pairing it with nearby Dryburgh Abbey.

Rosslyn Chapel is a 15th-century chapel in the village of Roslin, Midlothian, founded by Sir William St Clair. It is still a place of worship and remains in the ownership of the family who founded it. The ornate stonework and its symbolism have drawn writers, artists and visitors for generations, and the chapel featured in Dan Brown's novel The Da Vinci Code and its 2006 film.

Tip: Check the official website before you go and book your visit in advance.

The Palace of Holyroodhouse is the official residence of the monarch in Scotland, standing at the bottom of Edinburgh's Royal Mile, opposite Edinburgh Castle. It is closely tied to Mary, Queen of Scots and Bonnie Prince Charlie, and the tour takes in the State Apartments, the Great Gallery, the Throne Room and Mary's 16th-century rooms.

Tip: Free coach parking is next to the palace via Abbeyhill, and accessible spaces are on Horse Wynd, first come, first served.

Edinburgh Castle stands on Castle Rock, the plug of an extinct volcano, and has been a royal castle since the 11th century. It has served as a royal residence, prison, arsenal and military fortress, and is now cared for by Historic Environment Scotland. Research has counted 26 sieges in its 1,100-year history.

Tip: Book tickets online in advance, as they often sell out and none are sold at the castle once online tickets are gone. Allow at least 2 hours.