Pembroke Castle (Welsh: Castell Penfro) is located in the centre of Pembroke, Pembrokeshire, Wales (Welsh: Penfro, Sir Benfro, Cymru). The building of a Norman castle on this site began at the end of the eleventh century, but the development of the site in today's recognisable form took place in the thirteenth century. There had been substantial restoration work undertaken in the twentieth century and the castle is recognised as one of the best preserved medieval castles in Wales. It was the birthplace of King Henry VII (Welsh: Harri Tudur; 28 January 1457 – 21 April 1509) who was the father of King Henry VIII.