Considering an overseas family camping experience? Here are two options:

The Wonder of Warwick

Warwick Castle in the county town of Warwickshire, England, is a medieval castle developed from an original built by William the Conqueror in 1068.

With jousting contests, magic shows and knights in shimmering armour, camping on the castle grounds, by the banks of the River Avon, is a real adventure.

I’m calmly sipping gin and tonic in the evening sunshine while watching my four-year-old son yell “Die!” as he rages toward his opponent with a lance, before decapitating him with a broadsword.

His enemy may be stuffed with straw, but to this budding warrior, “knight school” is 100 per cent real.

It’s quite easy to keep up the illusion; jaunty lute music is playing in the background, and his instructor is completely in character. And we’ve just unpacked our modern gear inside our immaculate “campaign” tent, complete with banner, bow and arrows, storage trunks and fur throws.

Welcome to medieval glamping at Warwick Castle – and make-believe on a scale to rival Disney.

There are 38 campaign tents like ours, and three king’s tents (with four-posters) dotted among the trees in a wooded glade along the banks of the sleepy river Avon, on the edge of the castle grounds.

As part of our overnight stay, following a whole day exploring the castle, we’ve just eaten an enormous feast in the banqueting tent, with a full hog roast, and beer and wine by the goblet.

Now the evening entertainment has captured the children’s imagination and attention. As well as knight school, there are archery lessons and “jester school”, where my daughter is two hours into a chaotic attempt at juggling, magic tricks and spinning plates.

It’s 10 o’clock before we coerce them to bed, with castle staff on hand to supply warm milk. The sleep of kings follows, as they snore happily in their small truckle beds, wrapped up in furs and still clutching their complimentary swords.

One of the perks of our glamping weekend is exclusive access to the castle earlier than the masses. So it’s with a sense of privilege that we cross the wooden bridge into the grounds and stroll up the peacock lawn the following morning, bodies freshly showered and bellies full of cooked breakfast.

We have half an hour to savour the peace of the castle courtyard, and to climb the battlements and walk the ramparts unfettered by crowds.

There has been a castle here since William the Conqueror built one in 1068. Owned by Henry VIII and Elizabeth I, among others, and involved in the stories of Joan of Arc, Lady Jane Grey and Emma Hamilton, a visit here is a vivid immersion in British history – from the War of the Roses to the Civil War, Georgian largesse to Victorian engineering.

Merlin Entertainments, who bought the castle in the 1970s from the Greville family, have used all their theme park experience to bring the juiciest aspects of this history to life – with a little help from one or two waxworks from Madame Tussauds.

Our first call this morning is to pick sides (we go for Yorkist) as we watch the raising of the portcullis. With the Horrible Histories challenge in situ at Warwick all summer, we then have a go at the game of operation, Middle Ages-style, and experience the terror of the Victorian schoolroom.

A two-day pass comes with the glamping experience and means you can plan and pace your activities; we saw the birds of prey soar yesterday and today, we’re not going to miss the firing of the world’s largest working trebuchet.

Fresh from disappointment at the longbow challenge, we watch our children gaze open-mouthed as an enormous fireball is hurled through the air by the “knights” below.

It will make other history lessons, and other camping holidays, seem incredibly dull by comparison.

Special Spanish Escape

What do you think of when someone says European “campsite”? I used to picture a walk to the loo at night, freezing in a tent with two jumpers on and a long drive to get there.

Fast forward to lazing on a sunlounger in a warm Spanish breeze, sangria in hand, outside my air-conditioned caravan home, kitted out with all mod cons – having got there by plane. Bliss!

We’re staying at Castell Montgri, a huge campsite in the lively town of L’Estartit in the Costa Brava region of North East Spain.

With three pool complexes, I knew it would keep my stepson Joe, 14, busy and I suspected I’d enjoy it as an adult, too.

So, what has it got? Well, the Ombra pool complex has water slides for the young and young at heart, as well as a restaurant where we enjoy paella on the first night.

Up the hill is Panorama – with a huge pool that attracts serious swimmers who take a dip early in the morning before the kids get stuck in. It also boasts a superb view across to the Mediterranean.

But my favourite is La Bassa, which has waterfalls and looks like a rock pool. Hidden among pine trees high up a hillside, you’d hardly know you’re on a campsite. And the sun loungers are a stone’s throw from a bar serving drinks and snacks.

Another bonus is Eurocamp’s Base activity club for teenagers. Joe enjoys meeting new mates after plucking up the courage to sign up – and he attends lunchtime and evening sessions most days from then on.

Once fully settled in, we check out the nearby town of L’Estartit. It has the usual shops, restaurants, bars and ice-cream parlours, but the posh marina means it’s a cut above the typical Spanish seaside resort you might think of when you hear the word “Costa”. The main attraction is the vast sandy beach.

Having a hire car gave us the freedom to explore more towns further south.

If you fancy some history, visit Pals. It’s a hilltop rabbit warren of medieval streets with an ancient church, castle, and stunning views.

Also highly recommended are Llafranc and Calella. Tucked away in a rugged section of coastline, the two towns are linked by a lovely seaside walk.

We stumble upon an ancient Iberian settlement of Sant Sebastia de la Guarda in the hills above the two bays, with magnificent panoramic views. The site dates from the sixth century and has been recently excavated to show how villagers once lived.

On our last full day, my partner Dave, and Joe, get up early to climb to the hilltop Montgri Castle, built about 1300, which towers above the campsite and L’Estartit.