© The Automobile Association 2008. © Crown Copyright Licence number 100021153
1 From the roundabout head away from the town, over the river. After 100yds (91m) go left along Castle Street and over the railway bridge to the main road with a roundabout. Cross and walk along the path to the next road.
2 Bear right here, heading diagonally across a road and through an avenue of trees on the other side, following the public footpath signs to the left of the houses. Follow the gravel track all the way up through the middle of the golf course and, at the top of this track, keep going straight across the field ahead of you, following a faint grass trail to a stile and, shortly after, to a path into the wood, signed to the castle visitor centre. The centre makes an ideal starting point for any visit, packed as it is with information on the Norman Conquest and featuring a short film on the history of the castle itself. There's also a shop selling snacks, souvenirs and guides, not just on the castle, but on other castles, churches and historical buildings throughout Staffordshire.
3 After following the castle's self-guided walk (¾ mile/1.2km) go back the way you came, along the bottom of the wood to the stile, and skirt left around the outside of the wood. At the corner of the wood go through the hedge and head right. Continue down through the fields following footpath signs to Doxey. Descending through these fields also serves to illustrate how tough it must have been for Saxon forces to charge in the opposite direction; even assuming they survived the onslaught of arrows from Norman long-bows, by the time they got anywhere near the castle they'd have been absolutely spent.
4 When you come to a junction and a hedge ahead, go left to a T-junction and then right towards Doxey and Burleyfields. Follow the track round to the right and back towards Stafford. When the track runs out, bear right on to the road and then left across a roundabout. Just before the next roundabout (Point 2) head left, retracing your steps back into Stafford.