Chatsworth House close to Bakewell is one of the greatest houses in the country. Owned by the Duke and Duchess of Devonshire it is the ‘Palace of the Peak’ set in wonderful parkland and full of works of art, furniture and tapestries. A tour of the house is fantastic but don’t forget the gardens with the magnificent Cascade, Emperor and Willow Tree fountains and ‘Revelation’. Our children think the Farmyard and incredible Adventure Playground are just brilliant!

Just down the road is romantic Haddon Hall, owned by the Duke of Rutland, which is a beautifully preserved medieval manor house. It is one of our personal favourites because it’s much smaller in scale than Chatsworth but just as interesting to visit with its mellow interior and wonderful gardens which are an absolute riot of scent and colour in the summer.

Eyam Hall is another family home, which has been owned by the Wright family for 300 years. Set in the centre of the ‘plague’ village of Eyam, just to the north of Bakewell, it is a lovely 17 century manor house with a fine collection of tapestries and portraits in intimate surroundings.

Over to the east of Chesterfield is Hardwick Hall which is another ‘must’ for your travels. Dating from the 1300’s it is one of the finest medieval mansions in England. Built by the Countess of Shrewsbury, otherwise known as Bess of Hardwick, it is now looked after by the National Trust. As a towering mansion of glass and honey coloured stone, surrounded by lovely gardens, it will be another unforgettable part of your heritage tour.

Bess of Hardwick’s grandson, William Cavendish, re-built nearby Bolsover Castle as a fantastic castle but also as a cavalier’s pleasure palace. As castles go this takes some beating standing proud on its ramparts looking across to the Peak District. Our children always want to storm the battlements but there are also lots of exciting events going on within the grounds. To save the embarrassing questions keep the erotic wall paintings and, supposedly, the rudest fountain in the country to the adults.

Whilst over in eastern Derbyshire Renishaw Hall is also very well worth a visit. It is the home of the Sitwell family who made their fortune in coal and iron before the industrial revolution. If you are lucky you might see the ‘Boy in Pink’, sad little Henry Sacheverall, who kisses the ladies goodnight in the Ghost Room. But if you are a little squeamish then stick to the lovely Italianate gardens, art gallery and museum.

Smaller in scale but just as dramatic as Bolsover Castle are the ruins of Wingfield Manor standing on the hill by South Wingfield village in the countryside to the south of Matlock. Built in 1430 it became the prison of Mary Queen of Scots and it was here that the plot to overthrow Elizabeth 1 was hatched. The Great Hall, magnificent vaulted croft and high tower are well worth exploring.

Tissington Hall to the north of Ashbourne is another lovely place to visit. It’s a Jacobean manor house owned by the Fitzherbert family in one of the prettiest villages in Derbyshire. The guided tours of the hall with its Gothic fireplaces, panelled doors and Chippendale chairs are just brilliant. While away the rest of the afternoon in the garden and arboretum or exploring the estate village.

As we are close to Ashbourne it’s worth travelling just a little further to the south to see Sudbury Hall and Childhood Museum. The Hall is one of the most individual late 17 century houses with rich interior decoration, wood carvings, plaster work and decoratively painted murals and ceilings. The Museum has fascinating and innovative displays about children and their toys from the 18 century onwards.

Calke Abbey near Melbourne in southern Derbyshire is another fascinating tribute to the past. The home of a reclusive family of hoarders and collectors it is a true ‘time capsule’ which has changed little since the 1880’s. Now looked after by the National Trust, its faded splendour is a memorial to the many country houses that disappeared in the 20 century.

Close to Calke in the centre of Melbourne village is Melbourne Hall which was originally the old rectory but was rebuilt in 1696. Rich in historical associations, the Hall is full of fine furniture and paintings but it’s the gardens that are our favourite. It’s really lovely to sit by the lake on a summer afternoon and drink in the tranquillity.

Now that you are on the last leg of the tour turn north and head back towards the Derwent Valley. As you do you will pass Kedleston Hall near Derby which is one of the greatest neo-classical houses in Europe. It was built in the 1750’s by Robert Adam as a ‘Temple of Arts’ to display beautiful paintings, sculptures and furniture. The open-air concerts and antique shows that are held in the wonderful grounds are also not to be missed.

Finally, we must not forget the Derwent Valley World Heritage Corridor. The recent ‘World Heritage Site’ designation does justice to the unique part the valley played in world history. Centred around Sir Richard Arkwright’s watered powered mills in Cromford this was the birthplace of the industrial revolution. Explore the mills and heritage centres, wander along leafy Cromford Canal, or set off across the 'Peaks’ on the High Peak trail.