The iconic Tower of London has a varied and often gruesome history. Let me take you on a journey populated by ruthless kings, cunning thieves, headless queens and more. Along the way, we'll learn about some handy torture methods, hear the stories of those executed at the Tower and find out about a grizzly bear called Martin. We'll start at the Monument and make our way onto London Bridge, along the South Bank and back over Tower Bridge. After rounding the Tower, we'll finish up on Tower Hill.