Episode 1

In the first episode, Penelope discovers the seaside villages of West Sussex and the Isle of Wight. She quickly finds herself immersed in stories of seafarers, smugglers and shipwrecks. In the village of Bosham, she uncovers the real reason behind King Canute's battle with the tide. In Birdham, Penelope visits the country's first purpose-built marina and climbs on board with Olympic gold medallist Sarah Ayton for a sail up the estuary. There's also a flight in the cockpit of a hovercraft; the astonishing story of a local woman and an old £10 note; and an epic battle of the waves.

Episode 2

In this second episode, Penelope discovers the seaside villages of Northumberland and the Scottish Borders, and finds herself swept up by coastal tales of epic heroism, intrepid horticulture and smoked herring. On Lindisfarne, Penelope discovers how the architect Edwin Lutyens and garden designer Gertrude Jekyll designed a home on the exposed coastline. There are trips to Low Newton and its stunning golden beach and the medieval village of Warkworth. There's also the story of Grace Darling at Longstone Lighthouse; a bracing battle of the sexes at Craster; and a high-speed lifeboat rescue off St Abbs.

Episode 3

Penelope Keith continues her seaside journey of discovery around the coastal villages of the UK. This time, Penelope discovers the idyllic coastal villages of East Anglia, where she is plunged into tales of bravery, scandal and intrigue. Penelope travels by steam train to the Edwardian holiday resort of Weybourne. She hitches a ride on a tank; goes dredging at Cley next the Sea; and listens to a scandalous tale in Stiffkey. In Thorpeness, Suffolk, Penelope visits a village inspired by Peter Pan. She seeks out the hidden traces of the ancient settlement of Dunwich and finds her journey's end at Walberswick's village fete.