You need a Javascript-enabled browser to view this map You can find out more about Javascript and how to enable it in your browser at BBC WebWise. Retrace your steps ...

The castle as we see it today dates from ... of stakes and turf" across the neck of the ridge and Pembroke's history had begun. Stop to view Wogan's Cavern, a natural limestone cavern.

Beneath Pembroke Castle, a cave is being excavated by archaeologists looking for clues to Wales' prehistoric past. Reindeer and mammoth remains were among the Ice Age artefacts unearthed in Wogan ...

Take time to stop and gaze across the stream towards the undoubted gem of Pembroke Castle - and, indeed, of Pembroke itself - the superb Round Keep, built by Earl William Marshall in about 1200.