Stirling Castle is what you picture an old castle/fort to look like. You can tell that this was a spot that people fought over for centuries. The free introductory tour was good although a little more thorough than we might have liked. Make sure to do the wall walk as you can excellent views of the surrounding area. Also it is interesting to explore the halls and palace. They are not as ornate as French or Spanish castles but just as beautiful. The tour gives you a good background and history of the castle if you don't want to buy an audioguide. I would definitely recommend visiting Stirling Castle.
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