What is the story we think we know about the Elizabethan succession? Was it a smooth transition to the Stuarts, or was it a stolen Tudor crown?   In this first episode of our four-part series, Chief Historian Tracy Borman will talk us through why Elizabeth I never named an heir, and what repercussions that had for the end of the Tudor dynasty.   Find out more about Elizabeth's brush with death in 1562.   Read more about the reign of Elizabeth I.    For a signed copy of Tracy Borman's new book The Stolen Crown, visit our online shop.