Adam of the Road by Elizabeth Janet Gray
"A road's a kind of holy thing," said Roger the Minstrel to his son, Adam. "That's why it's a good work to keep a road in repair, like giving alms to the poor or tending the sick. It's open to the sun and wind and rain. It brings all kinds of people and all parts of England together. And it's home to a minstrel, even though he may happen to be sleeping in a castle."
Adam is a young boy of eleven, spending his time in school while awaiting the return of his father, a minstrel of some repute, and the resumption of his life with his father on the road. Adam's father does return and together father and son head out on the road but, like all road trips, this adventure has many unexpected twists and turns, including the kidnapping of Adam's beloved dog and Adam's separation from his father. The fun of being on this road with Adam is seeing the people and places of another time, parsons and knights and other minstrels and other travelers.
As a librarian, I began to see myself like Roger and Adam, as a kind of minstrel, singing songs, reciting poetry, relating stories. Ah, a new epithet: "Minstrel of the Library."