An Age of Kings - Season 1 Episode 3 Henry IV, Part 1: Rebellion from the North

Henry Bolingbroke, Duke of Lancaster, aided by the Earl of Northumberland and his son Harry Percy deposed the rightful King, Richard II, and Bolingbroke ascend the throne as King Henry IV. Richard was imprisoned and later murdered in Pomfret Castle. Henry, in remorse, vows a pilgrimage to the Holy Land. Northumberland and Hotspur become dissatisfied with the King's lack of favour. Henry is worried about the behaviour of his son, the Prince of Wales.