In 1688, the British Isles were invaded by a huge army led by Dutch prince, William of Orange. With his English wife Mary he stole the throne from Mary's father, the Catholic King James II. This was the death knell for absolute royal power and laid the foundations of our constitutional monarchy. It was spun as a 'glorious and bloodless revolution'. But how 'glorious' was it really? It led to huge slaughter in Ireland and Scotland. Lucy reveals how the facts and fictions surrounding 1688 have shaped our national story ever since.

• Lucy Worsley