Originally founded by the Celts and later an important Roman settlement, Regensburg is one of Bavaria’s lesser known gems. Situated on the northernmost bend of the Danube, it’s a friendly and laid back city, with an exceptionally well preserved medieval centre.

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.

The picturesque medieval town of Wertheim sits at the confluence of the Main and Tauber rivers, and is known for its castle, cobbled streets and charming half-timbered houses. The surrounding countryside is perfect for a bike ride, a gentle hike or a wine tasting tour.

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.

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.

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.

Trier is Germany’s oldest city, founded by the Romans around 16 BC and home to no less than nine UNESCO World Heritage Sites. Highlights include the Cathedral of St Peter, the Church of Our Lady and countless Roman ruins, and Trier was also the birthplace of Karl Marx, whose childhood home is now a museum.

Paris is a joyful expression of all that is glorious about France, a city of rarified tastes, romantic riverside walks and the occasional rather rude waiter. Culture vultures will be in seventh heaven, with a plethora of galleries and museums housing some of the finest art collections in the world, and the restaurant scene is absolutely first class.