The castle was built for Robert II on his accession to the throne of Scotland in 1371. It was his favourite home and he died here in 1390. The Stewart kings then lived in the castle for the next 150 years.
The main room is the well preserved vaulted Laigh (or, lower,) Hall. There's a high-level annex which includes a pit prison, and a modern spiral staircase which will take you up to the Great Hall, the second largest room, which contains private areas at either end.