A Sentimental Journey - S1-E19
Revealing mistake: Dialogue in the episode specifically mentions the A2 and A282 roads near Dartford, Kent - the actual roads used were the A1 Barnet by-pass, Galley Lane and Well End Road. The error is revealed by the sight of a road sign that appears just as the Austin Princess Limousine turns on the the main road - the sign shows that the car is not turning on the the A2/A282 near Dartford, but the A1 at Barnet some 40 miles away.
Continuity mistake: When Floris and Sindala ride out the gate by surprise, the cook's position (he was opening and closing the castle gate to let them through) is different when the camera changes.