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.