The Castle can be visited
Falkland Palace

In the town of Falkland in Fife, Scotland, stands Falkland Palace, a former royal hunting lodge. It is an example of Renaissance architecture, combining defensive elements, and remains in the possession of the House of Stuart to this day.
History+
The origins of Falkland Palace date back to the 12th century, when the MacDuff clan built a castle here. In the 14th century, the estate passed into the possession of the Stuarts. In 1402, Robert Stewart, 1st Duke of Albany, imprisoned his nephew David Stewart, 1st Duke of Rothesay and eldest son of King Robert III, here, leading to his starvation. Between 1501 and 1541, Kings James IV and James V transformed the castle into a royal palace. After the reign of Charles II, the palace fell into disuse. Around 1650, Oliver Cromwell's troops burned down the north wing.
Source: Wikipedia · Licence: CC BY-SA 4.0
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: 56.2538, -3.2062