Inverkeithing is a coastal town, parish and historic Royal burgh in Fife, Scotland. The town lies on the north shore of the Firth of Forth, 9.5 m…Inverkeithing is a coastal town, parish and historic Royal burgh in Fife, Scotland. The town lies on the north shore of the Firth of Forth, 9.5 miles northwest of Edinburgh city centre and 4 miles south of Dunfermline.