The special event presented by English Heritage is believed to be the first Tudor joust since Henry VIII was on the throne.

Jon Hogan, regional events manager of English Heritage, said: "The lances used are not tipped with balsa but are a single piece of wood. This unique event has been a big project because nobody else does it. We're also looking forward to some special events next year as it will be the 500th anniversary of Henry VIII's coronation."

The two-day programme at the castle also featured falconry displays, live medieval music and entertainment by Peterken the Jester.

Susan Osborne, of Candler Street, brought her grandchildren, Darren, six, Rio, eight and Connor, nine, to the event. She said: "We came last year too – it's such a great event for the children."

Lynn Douthat, 59, of Esplanade, thought the jousting was "very authentic". The retired PR executive said: "They are using very accurate armaments and weapons, which makes it interesting and entertaining for adults and youngsters."

Elizabeth Walker, of Barlby, near York, brought her children Iona, five, and Aoife, one, for a day out. She said: "The children are really enjoying it."