Pickering Castle was originally a wooden structure built by the Normans under William the Conqueror around 1069 . Over the centuries the castle was rebuilt in stone and expanded. The keep and chapel being built between 1216-36.
It is now in the care of English Heritage. Alas no audio tour - I do like these as it interprets what you see and give you a nice snapshot of the history.
I wandered into Pickering.... this is the North York Moors Railway station
I wandered into Helmsley to pick up some beer from the Helmsley Brewery for a friend and some lunch.
I wandered up to Rievaulx Terrace a grass covered terrace overlooking the ruins of Rievaulx Abbey. The site was created by Thomas Duncombe II. At one end of the terrace is a Doric temple and at the other an Ionic temple. It was intended as a banqueting house and the ceiling is covered with elaborate paintings.
I walked to it through the woodland walk.