You can either choose to have a Tudor Experience or a Baroque Experience.
Tudor Experience
Visit Henry VIII's Apartments and see his crown (20 mins). You can also sit on a throne in the great medieval hall before you head through the Haunted Gallery. After this, you can head towards the Tudor Kitchens to transport yourself back in time (20 mins).
Baroque Experience
Look at how King William lived in his time at William III's State Apartments (35 mins). Then watch the Baroque Story film to see how things were back in those days (15 mins). After this, head towards the only surviving Royal Chocolate Kitchens reopened after almost 300 years (10 mins).