Lord Nelson returns after two years at sea

The tall ship Lord Nelson has arrived back in the UK at the end of her 50,000 mile, two-year voyage around the world.

She sailed up the Thames and under Tower Bridge in London to a warm welcome from friends and relatives of the crew. More than a thousand people - able-bodied and disabled people - have taken part in the biggest challenge ever undertaken by the Jubilee Sailing Trust.

Our reporter Richard Jones was aboard when she arrived.