Over one million people from the UK explore the Highlands on foot every year, and there is no reason why you shouldn’t either. Trails exist for every ability level. If you'd like a little more comfort, consider hut-to-hut hiking, where no carrying of camping gear is required.
Chepstow Castle ruins in Monmouthshire, Wales, on top of cliffs overlooking the River Wye, is the oldest surviving post-Roman stone fortification in Britain. Its construction was begun under the instruction of the Norman Lord William Fttzosbern, soon made Earl of Hereford, from 1067, and it was the southernmost of a chain of castles built along the English-Welsh border in the Welsh Marches.