Join this morning’s Optional Experience to Cardiff Castle, a medieval fortress which has enjoyed a colourful history spanning centuries. Ancient ruins and lush countryside lie between the Welsh capital and your first stop in Pembroke. But first, your scenic drive will pass Carmarthen, the oldest town in Wales and, legend has it, the birthplace of Merlin. See the 11th-century Pembroke castle where King Henry VII, the first of the Tudor line, was born, then board your ferry across the Irish Sea to Ireland.