The castle, built in the 15th century has seen its share of misfortune. I'll quote from Nan Walkers Historical Guide to Kinross....

Robert, The 5th Lord Balfour, had a wild and tragic career. While still the young Master of Burleigh, he was sent abroad by his parents to forget a love affair with a local maiden; on his return he found her married to the schoolmaster of lnverkeithing whom he killed in a fit of jealousy. He was sentenced to prison at the High Court in Edinburgh but soon escaped by exchanging clothes with his sister. For some time he hid in an old tree near the castle (called Burleigh's hole) until he escaped to the Continent. He returned to take part in the ill-fated rising of 1715, and died leaving no heirs.

The castle ground are open to the public, a key is required to enter the buildings, there is no charge for entry.

Burleigh Castle