Take the A720 and follow the signs for the Forth Road Bridge. Crossing the bridge, marvel at the Forth Rail Bridge, built over 100 year a go.

Just over the bridge, take the 1st exit to North Queensferry and visit Deep Sea World - an under water marine exhibition.

Back onto the A90, exit at junction 1 on to the A985 signed to Kincardine and visit Culross - a fully restored fishing village with an ancient Abbey, Palace and Historic Houses.

Back on to the A985, then the A994 to Dunfermline and Dunfermline Abbey where several Kings of Scotland and St Margaret are buried. Photograph the gold ornate tomb of Robert the Bruce.

From Dunfermline take the A92 to Kirkcaldy, then the A915 to Leven and Lower Largo - home of Robinson Carusoe.

Continue on the A915 - along this coast are several pretty fishing villages; Elie, St Monans, Pittenweem, Crail and Anstruther - have fish and chips at Best of Scotland by the harbour.

Visit the Kilminning Coastal Nature Reserve and the Secret Bunker that was built during the cold war.

Continue on the A917 to St Andrews - famous for it's Golf Courses, Castle, Historic Houses, University and Girls School (St Leonards).

From St Andrews take the A91 on to the A914, then A92 across the Tay Bridge to Dundee.

Visit Discovery Point where Scott's Antartic Ship Discovery is moored.

Back across the Tay Bridge via the A92, turn Right on to the B936 and visit Falkland Palace and Gardens.

From Falkland join the A912 then the A91 then M90 across the Forth Bridge on to the A720 and back to Midlothian.