Darcey begins her royal road trip at the Highland Games in Balmoral, before sampling royal whisky on the River Dee and attempting a dance created especially for Her Majesty at the Ghillies Ball.
In London and the South East, Darcey visits Richmond Park's hunting lodge, drives an Austin Tilly, goes racing at Ascot and is shown around some of the Queen's favourite West End haunts.
In Norfolk, Darcey meets the members of the Sandringham Women's Institute who know the Queen personally, discovers a project close to the Queen's heart and learns how to become a horse whisperer.
Darcey's adventure concludes in Wales - the birthplace of the Queen's beloved corgi - where she visits St Davids Cathedral and a royal gold mine in Snowdonia.