The event on Tuesday, October 28 from 11am until 3pm is being staged as part of Big Draw, a national campaign which aims to get everyone drawing.
People attending will have the chance to explore the museum's collections, see behind the scenes and get to draw themselves into Herefordshire history.
The Drawn in Time event will also be happening at the Market House Heritage Centre in Ross on Thursday, October 30 from 11am until 1pm.
Sarah Skelton, Herefordshire Council's community heritage officer, said: "These events offer people a chance to create a scene from Herefordshire's past and draw themselves into it.
"The events will be run by artist Filbert Splosh who will be
making sure everyone will have a chance to get involved from tiny
tots to great grannies so come along and take part in this
fun-filled activity," she added.
Children must be accompanied by adults at all times.
This year is the ninth Big Draw and it runs from October 1 to 31
which events being staged at 1,000 UK venues.
The annual programme shows that drawing is the perfect medium for
observation, self-expression and fun. Wide-ranging events and
themes for all ages span art and science.
The Big Draw proves that drawing is an enjoyable public activity as
well as a private passion. It is inspired by the visionary
Victorian artist and writer, John Ruskin, whose mission was not to
teach people how to draw, but how to see.