Ian Mortimer has a great book focused on Medieval England
that takes you on a tour of the sights, smells, and daily habits of the English people during this time period. In general, it's a fun read, though you might wish to save the sections on medical care for when you're not eating. He apparently has one on Elizabethan England that I haven't acquired a copy of yet.
Looks promising!
This one goes into great depth (and on entertaining tangents) on the history of private life, using an historic house as a model. It's eye-opening how recent some of our homely comforts actually are.
What about you? Do you have a favorite history or nonfiction book you can lose yourself in?