On the death of Edward IV, the young heir, Edward, Prince of Wales, set off from Ludlow in Shropshire for London, in the care of his maternal uncle, Sir Anthony Woodville. Tradition has it that they halted overnight at Upton Cressett Hall, prior to crossing the River Severn the following morning.
The britainexpress.com link below has information about the hall, but is horribly traditionalist about Richard. Read it if you have a carpet handy and feel like a good chew. If not, give it a miss!