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Portchester Castle, Hampshire
"We visit the castle regularly and the area, right on the waters edge, is great for dog walks. The castle grounds are free to enter and great for family picnics. Of course, the real attraction is the castle itself, which took us about an hour to explore. Entry is free for English Heritage members and current prices and opening times can be found here: http://www.english-heritage.org.uk/visit/places/portchester-castle/prices-and-opening-times"