Which castle is the home of the knight Lancelot?

The castle of Joyous Gard is the home of the knight Lancelot as mentioned in Arthurian legend, supposed to be located in northern England. It has been associated with Bamburgh Castle.

In Arthurian legend, the Joyous Gard is named by the young Sir Lancelot as such when he sets up his household at the castle after capturing it and ending an evil enchantment during the task to prove his knighthood to King Arthur. Following Lancelot's adulterous and treasonous affair with Queen Guinevere, Lancelot rescues Guinevere, who is under sentence of death from Arthur, and brings her to the Joyous Gard. According to the Stanzaic Morte Arthur(14th-century Middle English poem), Arthur then unsuccessfully besieges Joyous Gard.