His best moment was the view of the Kremlin over the Moskva
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A fundraiser for Cancer Research UK has reached the end of his tri-continental walk around the world.
Mark Cundy, 39, from Shoeburyness near Southend, had walked 5,500 miles by the time he reached Buckingham Palace gates on Saturday.
Starting in October 2004 he walked 1,800 miles from London to Moscow and 500 miles from Melbourne to Sydney.
He recently completed the biggest leg across the US - 2,800 miles from Los Angeles to New York.
Mr Cundy has received no financial support during the trip and has funded all his accommodation and meals.
Visa violations
Walking an average of 20-23 miles per day he has used five pairs of shoes.
He told BBC news his best moment was the view of the Kremlin over the Moskva river and his scariest was disturbing an intruder in his cheap motel room in Pennsylvania.
He also explained how he got lost in a forest in Poland and was rescued by a couple of prostitutes and was also interrogated about visa violations in an underground cell in Vladivostok.
"It is a great relief it is all over and I can now wake up in the same bed," he said.