This is Epic History TV's guide to building the perfect castle, based on the development of European medieval castles over 400 years of history. We trace the origins of the castle in the feudal system that emerged in France c.900 CE, and look at the early motte-and-bailey castle, used by the Normans to subjugate England and Wales in the 11th century. We then look at how castle's became stronger and more sophisticated, with the addition of stone curtain walls, massive keeps, towers (square, round and D-shaped), as well as powerful gatehouses, barbicans, machicolations and moats.