The tall ship Lord Nelson has arrived back in the UK at the end of her 50,000 mile, two-year voyage around the world.
She sailed up the Thames and under Tower Bridge in London to a warm welcome from friends and relatives of the crew. More than a thousand people - able-bodied and disabled people - have taken part in the biggest challenge ever undertaken by the Jubilee Sailing Trust.
Our reporter Richard Jones was aboard when she arrived.
Auctioneer Raj Bisram talks about the will of Admiral Lord Nelson which he is selling at auction, alongside a sea shanty written by Nelson's crew.
Admiral Lord Nelson's will is to be sold at auction with a guide price of £15,000-20,000.
The one sided document detailing Nelson's wealth and possessions is dated before the Battle of the Nile on March 21, 1798.
Southampton Museum have revealed the document is the second known last will of Lord Nelson - the other is in the National archives Collection.
His will is to be sold together with an amusing sea song about Nelson's bravery at sea, which he signs "My Dear Lord Duke...Your obliged grateful Nelson."
During the two-year round-the-world adventure the Lord Nelson and her crew will face many new challenges - including the threat of piracy.
Richard Jones spoke to John West, Chief Officer; Ian Millen, Dryad Maritime Intelligence Services; Paddy Donaghy, David Horton and Ryan Shore, crew members; and Kyle Baker, ex-crew member.
The tall ship Lord Nelson is on her maiden voyage around the world giving many first-time sailors the chance to get a taste of life at sea. But also aboard are two Royal Navy veterans now medically discharged but getting the chance to sail the oceans waves once again.
They're among the lucky ones who don't suffer from seasickness which has struck many as Richard Jones explains in his latest report on life aboard. Richard Jones reports.
The tall ship Lord Nelson is on her maiden voyage around the world giving many first time sailors the chance to get a taste of life at sea.
But also on board are two Royal Navy veterans now medically discharged but getting the chance sail the oceans waves once again.
They're among the lucky ones who don't suffer from seasickness which has struck many of the novices, as Richard Jones explains in his latest report from South Africa.
He speaks to crew members Lee Hayward and Terry Whitty, Sean O'Connell, Wil Huang, David Kapelus and former crew member Kyle Baker.
The Lord Nelson was making good progress around the world until a medical emergency developed. Richard Jones has the latest chapter in the story He talked to Alex Lochrane of the Jubilee Sailing Trust, Caroline and Les Jones, Gareth Cooper and Dominic Dobson
The tall ship Lord Nelson is a familiar sight around the coast of Britain. She was the first ship of her kind specially designed for able-bodied and disabled people to sail side by side.
Now she's undertaking her biggest ever challenge - a two year, 50,000 mile voyage around the world visiting 30 countries on all seven continents.
For a series of special features this week, Richard Jones has been in South Africa catching up with the ship and her crew.
He meets crew members James Whale and Kyle Baker, Mike Drummond Smith from Care for Casualties, and Chris Phillips, Captain of the Lord Nelson.
The Jubilee Sailing Trust's tall ship Lord Nelson is making her maiden voyage around the world.Read the full story ›
Next week we run a series of special reports from South Africa. Our reporter Richard Jones went on board the tall ship Lord Nelson as she makes her maiden voyage around the world. The Jubilee Sailing Trust enables able-bodied and disabled people to sail a tall ship side by side.