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.

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.

One of the prettiest towns in the Moselle valley, Cochem is a popular stop for river cruise ships. With an old town full of half-timbered houses and a castle perched on a hill it’s a quintessentially German scene, and the riverside promenade is lovely during the sunny summer months.

The pretty town of Bernkastel lies in the heart of the Moselle wine region, and is known for its excellent dry whites based on the Riesling grape. The picturesque half-timbered houses of the old town date back to the Middle Ages, and there are plenty of wine taverns where you can enjoy a glass or two.

Koblenz was founded by the Romans, who valued the city’s strategically important location where the Rhine and Moselle rivers meet. Rebuilt from the rubble of the Second World War, modern Koblenz has a pleasant and relaxed atmosphere, and serves as a gateway to the Romantic Rhine.

The pretty little town of Rüdesheim, situated on a bend in the Rhine surrounded by vineyards, is a popular destination for travellers looking for a slice of quintessentially German village life. The Drosselgasse, a narrow cobbled lane flanked by old timber frame buildings, is particularly atmospheric.

Situated near the confluence of the Rhine and Neckar rivers, Mannheim is an important industrial centre with a lively cultural scene. It’s also conveniently located for exploring the pretty town of Heidelberg and the wine growing region around Nierstein.

Strasbourg is the capital of France’s Alsace region, right next to the border with Germany, and there is a tangible Germanic influence that sets the city a little apart from the rest of France. Highlights include the beautiful Gothic cathedral, the old town’s fairytale half-timbered houses, and the pictureque canals of the Petite France district.

Breisach is a small town on the western fringe of the Black Forest, separated from the French region of Alsace by a bend in the river Rhine. This proximity to France is reflected in a vibrant food and wine scene, and architectural highlights include the hilltop St Stephen's cathedral.

Situated at the confluence of the Rhône and Saône rivers, Lyon is one of France’s most appealing cities. Its reputation for gastronomic excellence is well deserved, with hundred of wonderful restaurants, and the UNESCO listed historic centre boasts a marvellous ensemble of Renaissance-era buildings.

Chalon-sur-Saône was once a key trading centre and port, situated at the meeting of Roman roads, the river Saône and several other inland waterways. The city’s distinguished history is reflected in its handsome buildings, and this is an excellent base from which to explore the southern Burgundy wine regions.

The riverside town of Tournus is known for the magnificent Benedictine Abbey of Saint Philibert, of which the Romanesque 11th-century church is the main surviving element. Other nearby sights include the splendid Château de Cormatin, the medieval village of Brancion and the Mâconnais wine region, home of the Chardonnay grape.

The twin villages of Tournon-sur-Rhône and Tain l’Hermitage sit on opposite banks of the Rhône, around 50 miles south of Lyon. Visit Tournon’s hilltop castle and charming old town, then sample some of Tain l’Hermitage’s excellent wines and the famous Valrhona chocolate.

The former papal stronghold of Avignon cuts a dramatic figure, perched above the Rhône and ensconced behind towering walls. The Palais des Papes was home to a succession of 14th century pontiffs, and still looms large over Avignon’s atmospheric old town.

The charming little town of Arles sits at the head of the Rhône delta, on the northern fringe of the sprawling marshlands of the Camargue. It’s a town with a long history, as evidenced by an impressive array of Roman ruins, and it's a great place to sample the essence of Provençal culture.

The little town of Viviers, on the right bank of the Rhône, is a delightful place to explore on foot, with its narrow, cobbled medieval streets and elegant cathedral. A lot of history is packed into a small space, including Roman remains and the Renaissance era Maison des Chevaliers.