The remains of the Castle can be visited
Kendal Castle

Kendal Castle, a historic castle ruin, stands on a hill east of the town of Kendal in Cumbria, England.
History+
The origins of Kendal Castle likely date back to the late 12th century, when it was built as the residence for the Lancaster family, who were the Barons of Kendal at the time. Later, the castle became closely associated with the Parr family. One of the most famous figures linked to this lineage is Catherine Parr, the sixth wife of King Henry VIII. Her ancestors, starting with Sir William Parr who married the heiress of Kendal, Elizabeth Ros, during the reign of Edward III, lived in Kendal for a long time.
Source: Wikipedia · Licence: CC BY-SA 4.0 · Image: Colin Jackson
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: 54.3249, -2.7367