Take a scenic drive across Scotland’s countryside, and a stroll through its tumultuous medieval past on a visit to Stirling Castle. In a country with no shortage of mighty fortresses, few have ever been as strategically significant as this one. Guarding the way to the Highlands, its possession was a focus of contention for centuries, with great battles like Bannockburn being fought in its shadow. You’ll drive through its grey town, encircling the sides of castle rock, to arrive at a stronghold truly drenched in history and, at times, blood. Most of the present structure dates from the 15th and 16th centuries when this was a principal royal residence. James III was born here in 1451, James V spent his childhood here, and the infant Mary Queen of Scots was crowned here on a September day in 1543. Your self-guided tour will acquaint you with the castle’s central turreted gatehouse, flanking towers and curtain wall – as well as the Great Hall, Renaissance-era Palace and Chapel Royal within. As you walk Stirling’s battlements, savoring the commanding River Forth valley views its residents and protectors have long enjoyed, you’ll understand why it’s said that whosoever holds Stirling holds “the key to Scotland.”