ADVENTURER Bear Grylls has said it was “epic” to discover he is related to a Scottish king while filming Who Do You Think You Are?

Grylls travelled to Scotland to find out about his connection to Robert the Bruce, explaining he did it for his mother.

Talking to Radio Times about his appearance in the latest series of the BBC ancestry show, Grylls said: “My mother has always really wanted me to do it, because she had hoped we were related to someone royal.

“She’s now 82 and my sister took me to one side and said, ‘mate, you have to do it’.”

He added that he has “always loved Scotland” as it was where he had met his wife Shara.

READ MORE: Aye Write: Robbie Morrison on new book Cast a Cold Eye

“As soon as I was told we were going to Scotland I thought that was awesome, because it’s where my heart's always been.”

Robert the Bruce was the Scottish King who defeated Edward II at the Battle of Bannockburn in 1314.

Grylls described him as “a clansman who rewrote the rules of conventional soldiering".

He said: “He was an inspirational leader who spent time in the great outdoors, he came back transformed and renewed.

“It was epic for me to follow that, and to understand a connecting spirit through our lives.”

Grylls also discovers that he is related to Archibald Campbell, first Marquess of Argyll, who was beheaded in 1661 for supporting Oliver Cromwell.

Campbell resisted religious changes that had been brought in by Charles I, and his life was brought to an end when he faced “The Scottish Maiden” – an early form of guillotine.

It had taken some persuading for Grylls to get on board with the show, which he had been turning down for more than a decade.

He told Radio Times: “I just didn’t want to do it. I don’t like doing TV and I didn’t have an aspiration to do the show.”

He said he has always struggled with doing TV, but has often found strength and resilience in pushing through.

He said: “You can be good at something and still struggle.

“I used to get annoyed about the fact that I found it difficult, but now I believe a sort of natural tension is quite good.”

Having finished the filming, Grylls now thinks that the show was “made for me”.

He said: “All of it now makes sense, seeing people who took the road less trodden, who never gave up, people who valued Scouting, and family.”

The new episode of Who Do You Think You Are will air on June 15 on BBC One.