The remains of the fortress can be visited
Kasteel Heusden

The fortress ruin Kasteel Heusden is located in the Dutch province of North Brabant. Originally a medieval castle, it evolved into a border fortress, shaping the region's history. Today, the remains of the complex are open for exploration.
History+
The origins of Kasteel Heusden date back to the 12th century, when the Lords of Heusden controlled a territory on both sides of the Oude Maasje. Their first castle, near the then main settlement of Oudheusden, was destroyed by the Duke of Brabant in 1202. Subsequently, the Lords of Heusden moved their seat to the current location, where a new settlement and an initial castle complex were built. This consisted of an octagonal stone tower and a square building on a motte. In the late 13th or early 14th century, a massive brick ring wall was added. After conflicts and changes of ownership, including a siege by William III of Holland in 1318, the castle finally fell to Brabant in 1330.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Peter van der Wielen
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: 51.7328, 5.1343