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Mary Queen of Scots was born in Linlithgow Palace. It's just off the High Street which has many historic buildings. You can also see the Palace from Linlithgow Loch
Birthplace of Mary Queen of Scots. The Duke of Cumberland set fire to it in 1746 after the Jacobite rising ... it is now a picturesque ruin on the shores of Linlithgow loch. There is a good walk around the loch and the town has many good restaurants, pubs and cafés.
Better "castle" experience than many-a-castle. Make it a day and visit the Falkirk Wheel and Antonine Wall?