Walvis Bay is situated on the edge of a tidal lagoon, sheltered from the Atlantic by a long sand spit. This important wetland area is famous for its birdlife, home to one of southern Africa’s largest flamingo colonies, and it’s a short drive to the city of Swakopmund, known for its quirky German colonial architecture.

Luanda is a city of shocking contrasts, where conspicuous consumption fuelled by Angola’s oil boom rubs up against sprawling shanty towns. The most attractive areas of the city date back to the Portuguese colonial period, including the fortress of São Miguel de Luanda and the pleasant seafront promenade known as the Marginal.

Bustling Cotonou is Benin’s biggest city, and the nation’s capital in all but name. We recommend taking an excursion out to the nearby town of Ouidah, a key transit port for the West African slave trade, where you can learn more about this dark period in human history.

Once just a little fishing village, Takoradi is now a deep-water sea port growing rapidly on the back of Ghana’s oil industry. Nearby points of interest include Cape Coast Castle, part of a network of colonial-era forts where slaves were held captive before being shipped across the Atlantic.

Abidjan, the most important city in Côte d’Ivoire, has bounced back since the civil war of 2011, and the glittering array of skyscrapers comes as a surprise to many visitors. There is still plenty about the city that is authentically African, however, including some of the best street food in the region.

The busy, dusty streets of Senegal’s capital Dakar are filled with life and colour, noises, smells and local music. The people here are friendly and helpful, so expect a warm welcome – but watch out for the usual hustles and scams of a busy city.

The lush volcanic island of La Palma is one of the Canary Islands’ best kept secrets, a place where tourism is still low key and the beautiful scenery is unspoilt by high rise developments. Don’t miss the colourful colonial architecture of the capital, Santa Cruz, reminiscent of the Spanish Caribbean.

Funchal, Madeira’s bustling capital, tumbles down a dramatic hillside towards a beautiful sweeping bay. Highlights include colourful markets, wine lodges and the spectacular cable car ride up to the village of Monte, home of the famous toboggan run.

Spread across steep hillsides that overlook the Rio Tejo, Lisbon’s colourful cityscape includes Gothic cathedrals, majestic monasteries and quaint museums. But for many the best times will be had wandering the narrow lanes of Lisbon’s lovely backstreets, with their great local food, wine and music.

Horta is the capital of the island of Faial, in the centre of the Azores archipelago. The harbour is a popular stop-off point for yachts crossing the Atlantic, and it’s also the base for whale watching trips and excursions to the spectacular Caldeira Cabeço Gordo volcanic crater.

Hamilton is Bermuda’s charming capital, filled with pretty pastel-hued buildings and bursting with British colonial history. Learn more about this past at the Royal Naval Dockyard, take a stroll along colourful Front Street, or relax on one of Bermuda’s beautiful pink sand beaches.

Formerly home to a US military installation, Great Stirrup Cay was purchased by Norwegian Cruise Line in 1977, and now provides a private beach retreat for guests of Norwegian, Regent and Oceania. You can choose to just kick back and relax, or enjoy activities including kayaking, snorkelling and stand-up paddleboarding.