According to the legend in the scriptures, demon Tarakasura after doing great Tapasya was gifted an Atma Linga by Lord Shiva which was a very powerful one.
Later Tarakasura committed many crimes and tormented the Devatass. So the Devas arranged Goddess Parvathi’s marriage with Lord Shiva and Lord Kartikeya was born. Kartikeya killed Tarakasura and destroyed the Atmalinga. The broken pieces of the Atmalinga fell at 5 places which became holy places known as ‘Pancharamams’.
The first one is Amareshwara in Amaravathi, installed by Lord Indra
The second one is Someswara in Bheemavaram installed by Lord Chandra
The third is Ksheera Ramalingeswara in Palakollu installed by Lord Rama
The fourth is Kumara Rama Bheemeswara in samrlakota installed by Kartikeya
The fifth one is Bheemeswara who had shown himself in Drakshramam.
How to visit: The best way is to go to the city Kakinada (Rajahmundry Airport is 163 kms) which is well connected by train and bus. From there you can take a taxi and start early and you can cover all the Pancharama temples in one day. You can also take buses to these places from Kakinada.