WE popped into Arundel on our way to or from somewhere once upon a time, and I remember how we felt we’d been to a real gem of West Sussex.

But we missed one of its crowning glories, Arundel Castle, and so returned recently to experience it and its glorious grounds properly on what, luckily for us, was a magnificently sunny day.

Stunningly restored, this medieval castle is the seat of the Duke of Norfolk and was established in 1067, damaged in the Civil War, and almost completely rebuilt between the 1870s and 1890s.

Its 16th Duke planned to give the castle to the National Trust but following his death in 1975 the 17th Duke cancelled the plan. Arundel Castle is now run by an independent charitable trust.

Excitingly, we were also there on an event day when we could see History in Action. The castle was ‘under siege’ by a Welsh Baron who intended to attempt to take the castle and hold it for Henry Tudor, who was himself fighting to take the throne from King Richard III.

As we made our way up the hill towards the castle itself, we could see the extent of the tented encampment housing the living groups and the re-enactors, who were every age from babies to the elderly. They were cooking and preparing for ‘battle’ and, due to my ignorance of what occurs at these events, I was surprised – and impressed – by how seriously everything was being taken.

At midday, the ‘siege’ began in dramatic style as the deafening cannons were fired, watched by hundreds of families. Our three year-old was riveted, but then decided she was scared by the loud noises, and dragged us in the direction of the castle gardens and the small but sweet Philip’s Zoo. There, an extra £1 per adult, 50p for children, bought us a look at meerkats, birds, chickens and a host of its other feathered inhabitants.

Throughout the day, visitors could watch the gunnery display and take in the crafts, costumes and armour. All of the living history groups – Raven Tor, British Plate Armour Society and The Company of St Barbara – delighted in talking to everyone who had a question or wanted to chat, with the men in armour especially causing a lot of excitement when they clanked around the grounds in their finery, brandishing their swords.

We made our way through the castle itself, taking in the rooms and making our way up to the crenelated Norman keep, which boasted absolutely stunning views – I could have taken in that vista for hours. We also stopped for tea and cake (£2.99 for a huge, chunky slice of Victoria Sponge) in the very large and immaculate restaurant where the service was exceptionally friendly.

Generally, all of the staff were a delightful surprise. No one was even a little bit hostile to the excited children and everyone queried if we were enjoying our day in what seemed to be a genuine manner – and smiling to boot.

I think, though, that I admired the gardens most of all, including the Collector Earl’s Garden and the castle gardens past Fitzalan Chapel and the parish church. They were, again, immaculate. Arundel Castle is certainly a class act.

*Arundel Castle has a host of events planned for the rest of the year, including Raven Tor Pirate and Smuggler days, a medieval tournament, town criers’ competition, multi-period event in addition to Paul Ulson popping up regularly as a character (executioner, crusader, smuggler, Viking, priest, soldier) from the past. Find out more online at arundelcastle.org.