Penelope Keith at Her Majesty's Service S01E01 - Windsor

Penelope starts her journey in England at the Queen's much-loved Windsor Castle. Stepping into St George's Chapel, Penelope finds out about the oldest and highest order of chivalry in the country, the Knights of the Garter - a hand-picked selection of the great and the good, past and present, from John Major to Winston Churchill - all personally chosen by Her Majesty. Penelope meets Jessica Fellowes, who lays claim to one of the more fragrant royal titles as the Royal Herb Strewer.