City of charming canals, elegant gabled houses, splendid museums and abundant bicycles, the Dutch capital of Amsterdam is a delight to explore. Its patchwork of waterways forms about 90 islands connected by 1,500 bridges. The legacy of the Dutch Golden Age lives on in gilded manses and in the lush paintings of Rembrandt and other Dutch masters that adorn the Rijksmuseum, The Netherlands's grand repository of art and cultural history. Today, discovering Amsterdam is a pleasure best pursued on foot, following tranquil canals past charming narrow-fronted houses. Linger over classic Dutch pancakes, or take a stroopwafel to go.

See the picturesque Dutch countryside and the original technological marvels of historic Kinderdijk, a UNESCO World Heritage Site. You will walk with your guide into the serene polder lands of South Holland. As you cross the dike to the windmills, you will notice that they in fact are at a lower elevation than your ship, as much of this part of The Netherlands is below sea level. Built in the mid-18th century, these 19 windmills, the largest concentration in The Netherlands, stand like sentinels on a hushed landscape. You will learn why they were built and see firsthand how they work, even stepping into a working windmill to observe its mechanics and living quarters. Families who live in these mills are required to keep them in working order. This excursion provides a revealing look at these marvelous buildings that helped shape the legendary Dutch landscape.

Learn about the treasured heritage of Cologne and visit its spectacular cathedral, towering over the Old City in its Gothic splendor. You’ll step into a rich past here, following some of its preserved historic street pattern and hearing about its Roman and medieval history along the way. You will also stop at Cologne’s magnificent Gothic cathedral. Construction of this towering structure, a UNESCO World Heritage Site, began in 1248 and continued in several stages over seven centuries. Finally completed in 1880, it largely escaped damage that ravaged the city and the rest of Germany during World War II. The largest Gothic cathedral in Northern Europe, it is a magnificent church with two soaring spires and beautiful stained-glass windows. Please note: On some occasions, a guided visit inside may not be possible. In that case, you can tour on your own after an introductory explanation by your guide.

Visit the only castle in the Rhine Valley to have never been destroyed. You will drive with your guide to Braubach, where the incredible Marksburg Castle watches over the town as it has since the 13th century. Because this magnificent structure was built with strong fortifications, it was never besieged by enemies. Upon arrival on its lofty grounds, enjoy spectacular views of Braubach, the Rhine and the surrounding countryside from its 550-foot perch. You will tour the citadel, see the impressive kitchens in the Gothic Hall building and step into the ancient torture chamber to view some grisly instruments. The distinct butter-churn tower, so named because the upper reaches have a smaller diameter than the lower, is a beloved landmark of the town with its distinct profile. Today, Marksburg Castle is home to the German Castles Association, which works to preserve medieval fortifications such as Marksburg all over Germany.

Take in the fairy-tale charms of Miltenberg by foot, the most intimate way to get to know one of Germany’s most delightful riverside towns. You will walk off your ship directly into the Old Town, following its cobblestone streets past medieval houses fronted with flower-bedecked balconies. The town square, lined with half-timbered facades, is one of the most picturesque in all of Germany, laid out on a narrow strip of land between the hills and manicured banks of the Main. Nearby, the handsome and richly hued hotel Zum Riesen (“Inn of the Giant”), Germany’s oldest inn, is a Renaissance treasure; it first opened its doors as a hotel in 1411 and has been open ever since. You will also see the Mainz and Würzburg town gates and catch a glimpse of Miltenberg Castle, built in the 13th and 14th centuries, high over the roofs of Miltenberg.

Tour Würzburg’s Bishops’ Residenz, one of Germany’s largest and most ornate palaces and a UNESCO World Heritage Site. Drive with your guide to the former residence of the Würzburg prince-bishop. This vast compound was built over a 25-year period, beginning in 1719. Admire the massive reception staircase and overhead ceiling with its stunning, 2,000-square-foot “Four Continents” fresco painted by Venetian artist Giovanni Tiepolo. You will see several of the building’s ornate rooms, each representing a different style, the colonnaded chapel and the baroque and English-style gardens lined with ornate statues. A highlight is sure to be the Mirror Cabinet. Incredibly, the entire complex was meticulously reconstructed after extensive damage from World War II bombing. After, continue to the Old Town of Würzburg, where a walking tour shows you the stunning Romanesque Cathedral, the baroque Neumünster church, the market square and Town Hall and the oldest wine bar in town.

See the burial place of emperors and the home of smoked beer on this included excursion. You will join your local guide and head to the medieval city center, a UNESCO World Heritage Site. Visit the magnificent 11th-century cathedral with its four imposing towers. The church was rebuilt in late Romanesque and early Gothic style in the 13th century; this is where both Emperor Henry II and Pope Clement II are buried. You can pause to admire the detailed statue of the Bamberger Reiter, or Bamberg Horseman, here. You will also see the picturesque Rathaus, or Town Hall, built in the middle of a double-arched bridge over the Regnitz River. From here, you can see fishermen’s cottages on the nearby riverbanks. You will have time to follow your own whims in Bamberg, perhaps sampling some of the town’s distinctive rauchbier, or smoke-flavored beer, before rejoining your ship.

Tour one of Germany’s most renowned and intriguing cities on this included excursion. You will meet your guide at your ship, then drive to the Old Town, where you can delve into Nuremberg’s complex past. This medieval city is still surrounded by 13th-century walls, with many gates and watchtowers fully intact. It grew into a toy-making capital of Europe where craftsmen also shaped metal into inspiring sculpture and carved wood and other materials into decorative crafts. After you see the grounds where Nazi rallies were staged and pass the Palace of Justice, you will admire the Imperial Palace, one of Europe’s most formidable fortresses. Then, stroll down the castle hill past half-timbered houses and browse the stalls at the Market Square. One of Europe’s most celebrated, it is famous for its gingerbread and its Gothic Schöner Brunnen, or Beautiful Fountain. There’ll be time to explore on your own here.

Witness a true medieval city untouched by World War II bombing and rich in architectural splendor. Regensburg is one of Germany’s best preserved cities and a UNESCO World Heritage Site. To get acquainted with this gem, you’ll explore it on foot with a local guide, who will share a personal view of the city he knows so well. See some of the Roman city walls erected by Marcus Aurelius upon its founding. You will walk past the Old Town Hall and see the 12th-century Old Stone Bridge, a 16-arch marvel of medieval engineering that still carries traffic today. See the famous Alte Wurstküche (Old Sausage Kitchen), Germany’s oldest restaurant, and admire idyllic courtyards. At the Gothic St. Peter’s Cathedral, gaze up at the Donkey Tower, a remnant of the old cathedral that was left to support this one. The stained-glass windows here are superb. Return to your ship at your leisure.

Explore the Italianate-style streets of Passau, where three major European rivers have converged to shape a distinctive city. Meet your local guide and begin your walking tour through delightful old-world streets, taking in a pastel rainbow of building facades as you stroll. You will see the impressive Bishops’ Residenz from where powerful prince-bishops ruled secular and religious life for hundreds of years. Continue past the 14th-century Rathaus, or Town Hall, built on the site of a former fish market on the Danube. Conclude your walk at the magnificent 17th-century St. Stephen’s Cathedral. This baroque wonder houses Europe’s largest pipe organ, with more than 17,000 pipes, and inspired Liszt to write his Hungarian Coronation Mass. You may linger here amid its beauty for an organ concert or take some free time to continue exploring the city. Please note: Organ concerts are not held on Sundays or from November to April.

Tour the renowned Melk Abbey, a masterwork of baroque brilliance. Perched on dramatic cliffs high above the Danube, this ochre-colored confection is perhaps the most graceful landmark of the Wachau Valley. At the abbey’s entrance, you will meet your guide. Rebuilt during the 18th century after the original 12th-century building was destroyed by fire, its library is now home to a wide range of medieval manuscripts. The interior of the abbey’s church is a kaleidoscope of red, orange and gold, with a magnificent carved pulpit and colorful ceiling frescoes. You will also see the imperial rooms, which are now home to a museum chronicling the abbey’s history from its inception to modern times. Be sure to step onto its gracious terrace for breathtaking views of the Danube, the city and the expanding valley.

See the magnificent architectural highlights of one of Europe’s most elegant and romantic cultural capitals. The center of arts and intellect during the reign of the Hapsburgs and beyond, Vienna dances to a tempo all its own. You will meet your guide and drive into the city for a half-day coach and walking tour, focusing on the splendid buildings on the remarkable Ringstrasse, the gracious boulevard laid out on the site of the old city walls in the mid-19th century. Imposing palaces, elegant public buildings and grand residences line this world-famous avenue. You will see the magnificent Hofburg Palace, winter residence of the Hapsburgs and home of the Spanish Riding School with its Lipizzaner horses. Admire the great, Gothic St. Stephan’s Cathedral, crowned with a gleaming spire and colorful roof tiles. And view the beautiful Vienna State Opera concert hall, its facade adorned with elaborate frescoes depicting Mozart’s opera The Magic Flute.

Renowned as the "City of Waltzes," Austria's capital city of Vienna is Europe's center of classical music. Strauss and Mozart composed many of their finest pieces here. Vienna's musical history is matched by the elegant, graceful architecture that lines the Ringstrasse, the wide boulevard encircling the Inner City. Baroque, Neo-Renaissance, Gothic-Romanesque and other splendidly styled structures, from the Hofburg Palace to the Vienna State Opera, take the breath away with their grand facades. Vienna has a more intimate side, too: inviting footpaths lead through green parks, and famed Viennese cafés sweeten your stay with coffee and the city's delectable Sachertorte.

Take in one of Europe’s great cultural capitals. Over the last few decades, Budapest has reemerged as one of the continent’s iconic cities, divided by the lilting Danube and connected by the graceful Chain Bridge. Meet your guide at your ship for a panoramic tour, beginning in modern Pest. Along the elegant Andrássy Avenue, the Champs-Élysées of Budapest, admire the Hungarian State Opera House. Stop at Heroes’ Square, a wide-open plaza of monuments and statues commemorating the Magyar state. Across the river, explore the more traditional Buda side of the city. Here you will visit the Castle District with its massive hilltop castle complex, the turreted Fishermen’s Bastion and Matthias Church, named for the country’s most popular medieval king. From the heights of Buda Hill, enjoy fantastic views of the famous Chain Bridge, the first span to ever connect the two halves of the city when it opened in 1849.