Just a short walk away from the town centre lies Pickering Castle. This 13th century castle has been used as a royal hunting lodge, holiday home and a stud farm by a succession of medieval kings. There's great views of the North Yorkshire countryside from the top of the hill and loads to see and do!
The 128 bus stops at Pickering Ropery and Pickering Eastgate, both of which are a short walk away from Pickering Castle.
You'll need to book your visit to Pickering Castle in advance - see their website for details.