The remains of the Castle can be visited
Falkenburg Castle

Above Wilgartswiesen in the Palatinate Forest, the Falkenburg castle ruin stands on a sandstone rock. As a rock castle of the region, it served to protect the surrounding villages.
History+
The origins of Falkenburg likely date back to the 11th century, when it was built as a successor to Wilgartaburg. Its first documented mention occurred in 1246. In 1290, a Werner von Falkenburg was named, and between 1300 and 1313, it was pledged to Friedrich IV von Leiningen. Emperor Ludwig the Bavarian pledged it again in 1317 to the Palatine Counts Rudolf II and Ruprecht I. In 1375, the castle came into the possession of Emich V von Leiningen.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: http://commons.wikimedia.org/wiki/File:Falkenburg_hinten.jpg?uselang=de
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 49.2056, 7.8601