The old Frisian port of Harlingen, on the shores of the Wadden Sea, is centred around an attractive cluster of canals and historic buildings. Ferries depart from here for the islands of Terschelling and Vlieland, while nearby Franeker is home to the world’s oldest working planetarium, dating back to the 18th century.

Known locally as ‘the gateway to the world’, the port of Hamburg has a rich maritime history. Of course the city has its seedy side, as characterised by the old red light district around the Reeperbahn, but it’s also a vibrant, progressive city with some excellent museums, galleries and theatres.

The former Hanseatic port of Wismar is one of the Baltic’s lesser known gems. The town was under Swedish control for most of the 16th and 17th centuries, and there are still many reminders of this period as you stroll around the pretty UNESCO-listed old town, with its cobbled streets and gabled facades.

Wonderful Copenhagen is the perfect city to explore on foot, by bicycle or by water. Visit the bustling wharf at Nyhavn, enjoy the palaces, galleries and museums, wander through the amazing Tivoli Gardens, and if you have time, make the most of Copenhagen’s gastronomic revolution.

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.

Arendal, on the southern coast of Norway, is a popular summer holiday destination for local tourists and a pleasant town to spend some time exploring. Highlights include the lively harbourside area, Pollen, and the 17th century wooden architecture of Tyholmen in the city centre.

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.

Dramatically located at the head of the Aurlandsfjord, the picturesque little village of Flåm is a popular base for excursions into Norway’s great outdoors. Strike out into the surrounding countryside and you’ll find steep mountains, cascading waterfalls and bucolic farms, with some spectacular walking and cycling trails.

Olden is a lovely little village surrounded by green meadows and rippling mountain scenery, at the mouth of the Oldeelva river. The most popular excursion is a trip to the nearby Briksdalsbreen, an arm of the vast Jostedalsbreen glacier.