Getting from Windsor Castle to London with luggage??

Hi - we will be landing at Heathrow for our trip, taking a taxi to Windsor Castle, storing our luggage there, touring for several hours, then getting our luggage and wanting to travel to London. What is the best method/most economical way to travel with our luggage from Windsor to London - Charring Cross area. Also, if a train is the suggestion, which train and line and do I need to prebook the train and choose a certain time as it is hard to know how much time we will want to spend in Windsor. Not really sure about the train service but hopefully will figure it out once we are there! Thank you in advance for advice!!