Penshurst is a historic village and civil parish located in a valley upon the northern slopes of the Kentish Weald, at the confluence of the River Medway and the River Eden, within the Sevenoaks district of Kent, England.

The River Medway is a river in South East England. It rises in the High Weald, West Sussex and flows through Tonbridge, Maidstone and the Medway conurbation in Kent, before emptying into the Thames Estuary near Sheerness, a total distance of 70 miles (113 km). About 13 miles (21 km) of the river lies in East Sussex, with the remainder being in Kent.