Stavanger originally grew rich from its fishing industry, though these days it’s Norway’s oil boom that is powering the city’s economic growth. In spite of this modern gold rush the historic centre of Stavanger retains its charm, and the spectacular Lysefjord is within easy reach of the city.

Rosendal is famous for the Barony, an historic manor house and Renaissance garden that was home to some of Norway’s most distinguished nobles between 1655 and 1927. Rosendal is also near to the beautiful Hardangerfjord and Folgefonna National Park.

The pretty village of Vik, on the southern shore of the Sognefjord, enjoys a wonderfully scenic setting. Highlights include the lovely Fridtjov Park, with its statue of Viking hero Fridtjov the Bold, and the 12th-century wooden Hopperstad Church, the oldest surviving stave church in Norway.

You might not expect to find a beach resort in Norway, but the sunny city of Kristiansand is where Norwegians go for a spot of fun by the seaside. There are plenty of family-friendly attractions, including a zoo, and it’s also a good base for exploring the pretty fishing villages of the south coast.

Situated at the very northern tip of Jutland, Skagen is famed for its wonderful light and beautiful coastal scenery, which attracted many artists during the 19th century. Today it’s a popular destination for well-to-do Danes, drawn here by the beaches, charming architecture and spectacular sunsets.

The intriguing city of Oslo, Norway’s capital, has so much to offer, from the open air Norwegian Folk Museum to the amazing Vigeland sculpture park, and from the Holmenkollen Ski Museum to the Munch Museum’s collection of memorable paintings. History, art and culture are what defines this lovely city.

Aalborg, Denmark’s fourth largest city, sits towards the northern tip of the Jutland peninsula, bisected by the Limfjord. It’s an important industrial centre and university town, with a recently revitalised waterfront area and a small but picturesque old town.

Aarhus is Denmark’s second largest city, but it’s also a compact and likeable place with a burgeoning cultural scene and a large student population. The combination of superb restaurants, attractive cobbled streets and excellent museums make Aarhus an unexpected highlight of any cruise around the Baltic.

The old Hanseatic port of Rostock was heavily damaged in the Second World War, though attractive enclaves of historic architecture remain. The little village of Warnemünde, a suburb of Rostock, is home to one of the most appealing beaches on the Baltic coast. An excursion inland to Berlin is a popular option, though it's around 150 miles each way.