The remains of the Castle can be visited
Velburg Castle (Ruin)

The Velburg Ruin, once a hilltop castle, stands on a rocky spur above the town of Velburg in the Upper Palatinate.
History+
The first documented mention of Velburg Castle dates back to 1129. Initially, it was owned by the Lords of Velburg, who resided here until 1217. In 1188, the castle passed by inheritance to the Austrian noble family of the Counts of Clamm. After the extinction of the Velburg counts, the complex fell to the Wittelsbach dynasty. Around 1450, the castle was severely damaged by fire but was subsequently rebuilt. Following the War of the Landshut Succession in 1505, it became part of the Duchy of Palatinate-Neuburg. During the Thirty Years' War, the castle suffered destruction by Swedish troops and was subsequently abandoned.
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: 49.2343, 11.6777