The King's Messenger by Susanna Kearsley
Set during the reign of James I of England, this novel follows Phoebe Westaway, the only child of a scribe in the royal court and Andrew Logan, a Scot and one of the king's messengers. Andrew's father was a king's messenger and when he became ill, he asked that Andrew be given his job when he passed away. Previously Andrew had worked in the Queen's stable.
The crown prince Henry had passed away recently after an illness and there has been talk about his death not being natural. Suspicion is now placed on his closest man, Sir David Moray. Sir David had been deeply affected by the death and had gone to France. He is now expected to return to his family home in Scotland and the king has tasked Andrew to go there to arrest him and bring him to London for questioning. He is sending a scribe along, and since the scribe is lately unwell, his daughter Phoebe will travel as well.
In Scotland they arrive at the King's Wark, and soon begin the journey south, with Andrew alert for those who might chase them.
Andrew has inherited an unusual ability from his mother's side of the family, where he can sometimes see moments in the future. He keeps it to himself as he doesn't want to be accused of witchcraft. He has seen a couple of moments of their journey and doesn't know entirely what they mean, but is wary.
Phoebe had not been friendly with Andrew before, but as they journey south, the small group of Laurence and Phoebe Westaway, Andrew Logan, Sir David Moray, and a young stableboy, Hector Reid, get to know each, telling stories at evening and rest stops. In this way, we learn their stories as well.
We see the characters grow and learn, and we see the complex situation in which they find themselves. There are also moments when we see the Queen and understand her nature and how she wields power in her own right.
I really enjoyed getting to know more about this historical time period, as Kearsley does lots of research for her books, and many of the historical elements are true to what happened. She has an afterward where she talks about what she took from history and what she invented.
She does characters very well in her books, and this is a great example. I always want to know more of their story by the end of the book.