Penicuik is a burgh in Midlothian, Scotland, lying on the west bank of the River North Esk. The town was developed as a planned village in 1770 by Sir James Clerk of Penicuik.

Near Penicuik is the Glencorse Parish Kirk, which formed part of the inspiration for Robert Louis Stevenson's Kidnapped . Some of the streets nearby are named after characters in the novel and its sequel, Catriona.

The kirk graveyard is known locally as "pirates graveyard" since on many of the old headstones are carved with gargoyles and the sign of the skull and crossed bones, synonymous with pirates.

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