A £7M painting is back on show at Longleat more than eight years after it was snatched by thieves in a night-time raid.

The painting, by the 16th century Venetian artist Titian, was taken from the first-floor State Drawing Room at Longleat House in January 1995.

After years of searching, the painting, entitled Rest on the Flight into Egypt was eventually found in a plastic laundry bag close to a London bus stop in August 2002.

The discovery followed a tip-off to former Scotland Yard detective Charles Hill, who was appointed by Longleat's insurers to recover the lost painting.

The painting depicts the Virgin Mary cradling the Infant Jesus, with Joseph looking on.

Apart from some damage to the frame the painting was in surprisingly good condition.

Lord Bath said: "We are all absolutely delighted to see the painting back where it belongs, in the same room where it was first hung by my ancestor the 4th Marquess.

"It was a tremendous relief to discover that, in spite of everything that must have happened to it during its time away from Longleat, the 500-year-old painting was returned relatively unscathed."