Start from Sloane Square underground station and walk straight ahead, down the King's Road, with Sloane Square and its statue of Sir Hans Sloane on your right.

About 100m past the square turn left into Cheltenham Terrace with the Duke of York's (Territorial Army) Headquarters to your left. Turn right on to St Leonard's Terrace, former home of Bram Stoker (the creator of Dracula), with the green fields of Burton Court to your left.

The building on the other side of the fields is the Royal Hospital, home to the famous Chelsea pensioners.

Turn right into Royal Hospital Road (or left to visit the Hospital), passing the National Army Museum. Turn right into Tite Street, which includes such colourful former residents as Oscar Wilde (No 34), John Singer Sargent (No 31) and Augustus John (No 33). Turn right into Dilke Street, catching a glimpse through the side gate of the Chelsea Physic Garden.

Physic simply meant 'of things natural'. This is the second-oldest botanic garden in the country, founded in 1673.

Turn left into Swan Walk past the Physic Garden entrance, then right on to Cheyne Walk.

This handsome terrace was also home to some of Chelsea's famous artists and writers including George Eliot (No 4) and Dante Gabrielle Rossetti (No 16).

Continue along the Embankment, past pretty pink Albert Bridge, to Chelsea Old Church.

A statue of Sir Thomas More sits outside the church and his intended tomb, inside, is occupied by his wife.

Turn right into Church Street until you rejoin the shops of King's Road, then turn right to return to Sloane Square.