Robin Hood has been a favourite in our house ever since Buzz Lightyear fell, admittedly with style, from grace. The man in green, who robbed from the rich to give to the poor, has inspired all sorts of shenanigans from our four-year-old son Jack.

He has spent many a happy afternoon shooting his granny with a bow and arrow, and I have spent months running round our neighbourhood hiding behind trees. Where most families have delicate ornaments on display, we have a plastic Robin Hood tree house in a prime spot in our living room.

So it was with great excitement that we headed for Nottinghamshire, known by Jack as "Robin Hood land", to look up our hero's roots.

Our base was at Center Parcs in Sherwood Forest, where our home for the five-day break was a three-bedroomed villa with three bathrooms, a dishwasher, microwave and its own outside sauna. We were hardly roughing it in a hollow tree, but at least we were staying in a nature reserve deep in the Nottinghamshire countryside, where ducks, rabbits and squirrels regularly called at our door, and if allowed, ventured into our living room.

It would be easy to stay in a Center Parcs holiday village and never venture outside as there is so much to do there, but the Tales of Robin Hood in Nottingham beckoned. A 30-minute drive away, in the centre of Nottingham, the museum is a little boy's dream come true.

Compared to modern interactive museums, the Tales of Robin Hood seems a little dated, but when you're four and you think you're standing before the Sheriff of Nottingham, it doesn't matter that a few of the models could do with updating.

Step through the door, and you're welcomed by a costumed character before you step back in time to Medieval England. A walk through the dark, dirty streets led us to Robin Hood's arch enemy, the Sheriff of Nottingham, who threatened to throw us all in prison.

Amazingly, Robin Hood rescued us just in time, and from there we went on an adventure ride through Sherwood Forest. As our little cars twisted and turned through the dark, mysterious forest, we had to flee from ferocious wolves and escape flying arrows.

Upstairs at the centre, there are interactive games for children - Jack's favourite was the sword in the stone game. There is an art area, where children can do brass rubbing, and an archery section, where older children can practice firing arrows.

The Greenwood caf sells drinks, snacks and meals and there is a bar for those whose nerves need steadying after escaping the Sheriff. Mummies, who might be tiring of outlaws, get a renewed interest with Kevin Costner as Robin Hood on the large screen.

A five-minute walk from the Tales of Robin Hood is Nottingham Castle, high up on Castle Rock, legendary home to the evil Sheriff of Nottingham. Once a magnificent medieval castle, this was where Robin Hood's famous archery contest took place. The castle was demolished after the English Civil War and a 17th century ducal mansion now stands in its place.

Outside the castle gatehouse is a famous bronze statue of Robin Hood, while inside you can discover the secret passageways and the most exciting sight of all - the dungeons. The gardens are beautiful and would be well worth a spring or summer visit.

A five-minute drive from our base was the Sherwood Forest Country Park and Visitor Centre, home of the Major Oak, where the Merry Men used to hide from the Sheriff of Nottingham. The tree, at over 800 years old, is reputed to be the oldest in Britain. It is a 20-minute walk from the car park, which leaves plenty of scope for running and hiding among the silver birches, then shooting your parents when they find you. We had planned lunch at the Forest Table at the Visitor Centre, but it was closed for refurbishment.

If all this sightseeing was wearing us out, there wasn't much chance of a rest back at base. Jack knew exactly what he was doing at the Cycle Centre, when he opted for a trailer on the back of his dad Ian's bike. As he toured the holiday village like a little emperor in his chariot, Jack called out instructions of "Faster Daddy!" to his flagging father.

We had a week of activities planned. Ian took part in two squash tournaments at the Country Club, finishing second, while I tried out a yoga class and a Lavender Relaxation session at the Jardin des Sports. Both were excellent and highly recommended for experienced yogis or beginners alike.

Each day the three of us spent hours in the Subtropical Swimming Paradise, where we whizzed down water slides, wallowed in hot tubs, rode the scary Jungle River and jumped the waves. Lane swimming seemed a bit boring with all this excitement on offer but we did some of that too.

Jack enjoyed a three-hour session baking cookies and chocolate crispies in the Time Out Club's Food Funtime, while Ian and I spent a blissful afternoon in the spa, the Aqua Sana. There we boiled in the Tyrolean sauna and the Indian Blossom steam room and relaxed in the tepidarium and the Japanese Salt Room, before retiring to the aqua meditation room.

I was whisked away for a Volcanic mud detox treatment, where I was exfoliated, then covered in mud, wrapped in plastic and lowered above a bath of hot water, where I was left to cook for one of the most relaxing half hours of my life. The treatment aimed to detoxify me and gave me a fantastic night's sleep.

Despite our best intentions to self cater, we sampled most of the restaurants, all of which have excellent children's play areas attached. We enjoyed a takeaway curry from the Indian Rajinda Pradesh in our villa with the log fire burning and a romantic meal for two at the French La Sapiniere, while Jack was babysat.

The best food was at Huckleberry's, an American-themed diner in the Village Square, which serves top cocktails. The Pancake House, set on the beach by the lake, was also a hit with Jack. For those with stronger willpower than us, the Food Market is well-stocked at reasonable prices.

Our little man wasn't quite so merry when he realised we'd only hired, not bought, his trailer bike. There were tears when we left, but Jack's already talking about dropping in on Robin Hood again.

TRAVELFACTS

A one-bedroomed lodge sleeping two people starts at £183 for a mid-week stay at Center Parcs at Sherwood Forest, while a four-bedroomed villa, sleeping eight, costs £336. To book call 08705 200300 or visit www.centerparcs.co.uk

The tales of Robin Hood, 30-38 Maid Marian Way, Nottingham, NG1 6GF; open 10am to 4.30pm daily, admission £6.95 for adults, £4.95 for children aged four-15. Telephone 0115 948 3284 or visit www.robinhood.uk.com

Nottingham Castle, Castle Road, Nottingham, NG1 6EL, is open from 10am to 5pm daily, and admission on weekdays is free. On weekends and Bank Holidays entry is £2 for adults and £1 for children. Telephone 0115 915 3700 or visit www.nottinghamcity.gov.uk/museums

Sherwood Forest Visitor Centre, Edwinstowe, Mansfield, NG21 9HN. Telephone, (01623) 823202, or visit www. nottinghamshire.gov.uk