All aboard! -- The origins of the railroads -- The earliest railroads -- The first passenger railroad -- The Liverpool and Manchester -- Rail hero: George Stephenson -- Rail around the world -- Early steam -- U.S. style -- European steam -- Crossing the uncrossable -- Classic loco: Stephenson's rocket -- Golden age of steam -- Amazing engineering -- Statement stations -- All change -- Time for change -- A connected world -- Rail hero: George Westinghouse -- Running a railroad -- Tracks and wheels -- The comfort zone -- Staying safe -- Classic loco: Mallard -- Loco power -- How a steam loco works -- How a diesel loco works -- How an electric loco works -- Rail hero: Granville T. Woods -- Iconic routes -- The Trans-Siberian Railroad -- The Orient Express -- The Pacific Railroad -- The Indian Pacific -- The wheels of progress -- A woman's world? -- Trains for change -- Classic loco: DHR B-class -- Going underground -- The first underground line -- Underground around the world -- Rail hero: Mary Elizabeth Walton -- Trains at war -- The early years -- World War Two -- Classic loco: Jupiter -- Oddballs -- Suspension railroads and sky trains -- The weird and wonderful -- Record breakers -- Rail hero: Hideo Shima -- The future -- The train's second age -- Future power -- Driverless trains -- Preservation and enthusiasts -- Timeline.