Nijmegen is one of the oldest cities in the Netherlands, and was the site of a Roman military camp in the 1st century BC. Nowadays it’s a bustling city with a charming medieval centre, home to Holland’s oldest shopping street and the fascinating Freedom Museum, which documents the Dutch experience during the Second World War.

Antwerp is a city bound up with the arts, once home to the likes of Rubens and Van Dyck, and more recently carving out a reputation as the fashion capital of Belgium. It’s also a magnet for shopaholics, with designer boutiques and jewellers galore.

Ghent is one of Belgium’s most captivating cities, home to pretty canals lined by handsome brick houses and a burgeoning restaurant scene. The architectural highlights of Ghent’s medieval centre include the soaring Gothic tower of St Bavo’s cathedral, and the city also boasts some excellent museums and galleries.

Dordrecht was first granted a town charter in the 13th century, and its importance as a merchant city is reflected in the delightful historic architecture of the old harbour. Just outside the city is the watery expanse of Biesbosch National Park, a freshwater delta criss-crossed by walking trails and cycle paths.

One of the great ports of Europe, Rotterdam’s impressive skyline can be seen from far and wide. With great architecture both ancient and modern, fantastic exhibition and concert halls, theatres, pretty galleries and numerous museums, there is so much to do when you stay here.