Nuremberg, Bavaria’s second city, first pops up in the history books in 1050 as a stronghold of the Franks, and later became the unofficial capital of the Holy Roman Empire. Nowadays the city is a tourist magnet thanks to the beautifully restored old town, Christmas markets and excellent beer.

The handsome town of Würzburg, situated on the river Main between Nuremberg and Frankfurt, was ruled for centuries by a succession of powerful prince-bishops. Although much of the city was destroyed during the Second World War, the majestic 18th century Residenz palace stands as a testament to the wealth of the bishopric.

Frankfurt is the financial heart of Germany, a forest of silver skyscrapers that’s home to both the German and European Central Banks. This focus on commerce has led some to dismiss the city as a dull, soulless sort of place, but in fact Frankfurt buzzes with a real cultural vibrancy.

Boppard is one of the most attractive towns on the Rhine, situated on a horseshoe bend with a lovely riverside promenade. Take the chairlift up to the Vierseenblick for fantastic views, go hiking in the woods or explore the pretty streets and handsome architecture of the town itself.

Cologne is a wonderfully warm and welcoming city, its skyline dominated by one of the most beautiful Gothic cathedrals in Europe. You will likely spend most of your time in the attractive Altstadt (Old Town), home to beer halls aplenty and some fascinating museums.

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.