A 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' grand repository of art and cultural history. Discovering Amsterdam is a pleasure best pursued on foot; visitors line the tranquil canals and linger over Dutch pancakes, or take a stroopwafel to go.

Sail the bucolic waters of the Rhine, deep into the Rhine–Meuse–Scheldt Delta, as classic Dutch landscapes unfurl all around. Flat farmland, charming windmills and svelte poplar trees line the shores, and vast tracts of land stretch in all directions, growing all manner of bounty, from tomatoes to tulips. Gaze upon Friesian cows and tidy villages with their neatly laid farmhouses and marvel at how much of this land was reclaimed from the sea, with the aid of traditional windmills and the construction of dikes.

Cologne reveals its Roman heritage in its city layout and the ancient ruins that lie scattered through the town. Cologne's modern plazas and Hohe Strasse host welcoming shops, enticing restaurants and cologne boutiques. Of note is the city's 13th-century cathedral, a stunning example of Gothic artistry and a UNESCO World Heritage Site. Having survived Allied bombs during World War II, the cathedral's imposing twin spires are visible for miles and its stained glass windows fill the interior with brilliant colored light. Its steps lead to a platform with astounding views.

The Rhine River flows through one of Germany's most scenic regions. As you sail its most picturesque stretch, the UNESCO World Heritage Site of the Middle Rhine, you will pass vineyard-blanketed hills whose steep slopes require vintners to pick grapes by hand, keeping a centuries-old tradition alive. Splendid castles line the banks, all of which have stories to share, and the Lorelei Rock presides at a dramatic curve in the river. This infamous river maiden mesmerized sailors with her song and lured them to their demise at her feet.

The Franconian town of Miltenberg on the Main River is lively and romantic, nestled amid one of Germany's fine wine-producing regions. Along its cobblestone streets and crooked lanes, medieval timber-framed houses are plentiful, giving a feeling of stepping back in time. The 13th- to 14th-century Miltenberg Castle dominates the town and the beautiful Renaissance Zum Riesen inn, hosting travelers since 1411, stands out for its rich history. The town prospered when it gained escort rights along the Main River; two forts once guarded the river crossing here.

Surrounded by Franconian vineyards, Würzburg was heavily damaged during World War II, but has since been completely restored. This prestigious university city is a jewel of baroque architecture. Its most pristine example of pomp and glory is the great Bishops' Residenz palace, built in 1744 for the prince-bishop; his unwavering support of artists is evidenced by the sweeping staircase and magnificent ceiling frescoes by Tiepolo. Other landmarks include the medieval, statue-lined Old Main Bridge and Marienberg Fortress, originally a Celtic hill fort and later residence of the bishops. The city remains a major wine-making center, hosting Germany's oldest and largest vineyard.

As far back as 1,200 years ago, visionary Frankish Emperor Charlemagne contemplated connecting the Rhine, Main and Danube Rivers so ships could travel the length of Europe. Today, his dream dramatically comes to life. The Main-Danube Canal employs 16 stair-step river locks that allow vessels to travel 2,200 miles through 10 countries, from the North Sea coast of Holland to the Black Sea shores of Romania.

The second-largest city in Bavaria, Nuremberg is filled with traditional half-timbered houses and Gothic churches with intricate spires. Although nearly destroyed during World War II, the remaining medieval city walls stretch some three miles and feature original gateways and 80 original watchtowers. Nuremberg is well known historically for its metal and toy craftsmanship. But it is infamous for its role in World War II, first as the site of Zeppelin Field's Nazi rallies and later as the site of the war crimes trials at the Palace of Justice that captured the attention of a generation.

Having escaped major damage during World War II, the picturesque town of Regensburg is one of Europe's best-preserved medieval cities, the oldest city along the Danube and a UNESCO World Heritage Site. The Old Stone Bridge, constructed in the 12th century, is a masterpiece of medieval engineering with its 16 arches. St. Peter's Cathedral is widely considered Bavaria's best Gothic architectural work. The old town's Neupfarrplatz square is a cross section of history-it was once a thriving Jewish quarter, a bustling marketplace and the site of Nazi book burnings.

Founded by the Celts over 2,000 years ago, Passau is one of Bavaria's oldest cities. Known as the "City of Three Rivers,” it rests at the confluence of the Inn, Ilz and Danube rivers. The city has long enjoyed its strategic position and grew to great economic and political power because of it. The legacy of its past prosperity lives on in graceful arcades, colorful houses with rococo facades and the glorious baroque St. Stephen's Cathedral, home to one of Europe's largest pipe organs. Passau is also where two nations meet; it is here that the German-Austrian border begins.

Sail through a serene tapestry of terraced vineyards, forested slopes, charming towns and castle ruins in Austria's Wachau Valley, celebrated as perhaps the most scenic stretch of the Danube. Journey 18 miles through this vast UNESCO World Heritage Site, where the river courses through picturesque hillsides. Gaze upon the prolific grapevines and quaint wine-producing villages hugging the shores-the legacy of vintners that stretch as far back as Celtic and Roman times and an echo of the more than 30 monasteries that served as vineyards in Renaissance days.

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 its famed Viennese cafés sweeten any stay with coffee and the city's delectable Sachertorte.

Vienna is considered one of Europe's greatest cultural hubs. Its art scene has long been established with the Hapsburg's collection of fine art, now housed at the Kunsthistorisches Museum. Today, Vienna's modern side showcases street art murals that don the side of buildings along the banks of the Danube. Ingrained in local life is the long-embraced tradition of coffeehouses; UNESCO includes Viennese coffeehouse culture on its list of Intangible Cultural Heritages. It is considered one of life's pleasures to while away an afternoon over an Einspänner coffee and a pastry.

Riverside beauty and a vibrant cultural scene blend together in Budapest to form one of Europe's most rewarding cities. Hungary's enchanting capital straddles the banks of the Danube, with traditional hillside Buda on one side and modern Pest on the other. By day, stunning art nouveau buildings, stalwart castles and grand palaces set the stage for inspiring strolls and long soaks in thermal spas. By night, the shimmering lights of the Parliament building dance across the waters of the Danube, the Chain Bridge uniting it all as a dramatic centerpiece.

Budapest's old town is a fascinating medieval patchwork of narrow streets and colorful houses. In the Castle District, the Matthias Church soars in Gothic glory. Adjacent, the expansive wall and seven turrets of Fisherman's Bastion overlook the Danube, the graceful Chain Bridge and the Pest side of the river. The centerpiece of the district is the sprawling Buda Castle. Constructed in the 13th century and expanded to its current baroque splendor during the 18th century, this edifice was home to Hungary's kings for almost 700 years.

Once the seat of the archbishop, the cultural center of Kalocsa is more than 1,000 years old. The quaint town, surrounded by 8,000 acres of farmland growing fiery red peppers, is brimming with traditional Hungarian culture and steeped in the piquant flavors of paprika, the "red gold” that has been giving local goulash its distinctive taste for centuries. The world's first Paprika Museum chronicles the spice's history. The streets are adorned with bright murals of floral motifs, which create a cheery ambience for browsing craft-filled shops. Hungary's artistic heritage takes center stage at the House of Folk Arts museum.

The fourth-largest city in Croatia, Osijek is located near the confluence of the Drava and Danube Rivers. It is the largest city and the economic and cultural capital of the eastern Croatian region of Slavonia. In its early days, Osijek was a Roman settlement called Mursa Maior ("major”). It was later rebuilt by the Ottomans and ruled by the Hapsburg Empire. Today, with an abundance of farmland and game, as well as plentiful baroque architecture and musical and outdoor venues, Osijek has become a gastronomic and cultural center of Croatia. Its cathedral can host 3,000 people.

The Serbian capital and former capital of the state of Yugoslavia, Belgrade is one of the oldest cities in Europe. Its location at the confluence of the Sava and Danube Rivers has long made it a contested region. Throughout its history, the "White City,” as its Serbian name translates, has been destroyed and rebuilt 20 times. Fortunately, the wide-reaching citadel remains, housing the Kalemegdan Fortress, Orthodox churches, Turkish baths and green parkland. Its Church of St. Sava is one of the largest Orthodox buildings in the world. 

Millennia of history await at "the Town of Doves,” the gateway to the Djerdap National Park. The Iron Gate of the Danube lies between the mighty Carpathian and Balkan Mountains, its dramatic scenery carved by narrow ravines. Guarding the Danube is the imposing 14th-century Golubac Fortress, which has seen ruling empires vie for its control over the centuries, changing hands between the Serbs, Hungarians, Bulgarians and Turks. Serbian culture is swathed in tradition, and it is an integral part of the country's identity that has carried its people through challenging times in history. Ancient civilizations to modern empires have left their mark, creating a unique, fascinating heritage that spans thousands of years.

One of Bulgaria's oldest riverside towns, Vidin is home to the only entirely preserved medieval Bulgarian castle. Perched impressively on the riverbank, its striking pose, thick ring walls, stout towers and solid gates form a fortress known as Babini Vidini Kuli, which means Granny Vida's Towers. Around the castle rose a fairy-tale town of 25 minarets, domes and other charming architecture of the period. Though many of these features have been shadowed by today's city, Vidin retains its charms. Today it is largely an agricultural and trade center renowned for its wines.

The most integral Danube city in Bulgaria, Ruse enjoys a setting amid a rolling countryside blanketed in sunflower and wheat fields. Once an outpost of the Roman Empire, it was known as Sexaginta Prista, or Sixty Ships, for the fleet that once docked here. Today, it is more known for its colorful atmosphere and as a gateway to Romania's fabled Transylvania region. Best explored on foot, the city features many fine examples of 19th- and 20th-century neobaroque and neorococo architecture.

Bucharest is Romania's cultural capital. Its original fortress, the first of many, was built to protect the Walachian state from the Turks. Today, it is a city of elegant French-style boulevards, lush gardens and green expanses, including the tranquil Bucharest Botanical Garden. The historic Lipscani district exudes the old-world charms of cobblestone alleys, inns and shops. The sprawling Palace of Parliament is the world's largest civilian building, said to contain 1,100 rooms.

Bid farewell to your fellow guests and journey home. Or spend more time exploring, perhaps joining one of our extensions.