You could spend a lifetime in Europe’s oldest city and still not see everything it has to offer. Settled over 3,500 years ago, Athens is like a mythological crossroads of the past and present, where modern buildings share the skyline with spectacular ruins like the Parthenon.

To see a veritable “greatest hits” line-up, make your way to Vasilissis Amalias Street for the archaeological walk. Winding through the heart of the ancient city, the route leads to landmarks like the Temple of Olympian Zeus, Ancient Agora, Arch of Hadrian, and of course, the Acropolis.

Kotor’s beautiful bay has long attracted passing ships that stopped to trade, plunder, or conquer, and merchants, pirates, and soldiers of numerous empires have walked this maze of cobblestone streets before you. One of Europe’s best-preserved cities of medieval or Renaissance vintage, its walls were constructed right into the steep slopes of the mountain behind it, providing protection and making it an amazing sight on approach from the sea. Venetian ramparts enclose a rich history, with churches of varying styles, and a Romanesque cathedral built on the foundations of an earlier church, and a still earlier Roman temple.

To visit Dubrovnik is to step back in time to the Middle Ages. The town is one massive museum, its thick walls constructed from the 13th to the 17th century encircle the entire city, and contain within them a treasure trove of striking architecture – squares, fountains, palaces, churches, and monasteries, all built from the same stone, line streets free of motor vehicles. Once the only city-state on the Adriatic to rival Venice, Dubrovnik has long been a center for Croatian culture, and home to artists and scholars of all disciplines. It is possible to circumnavigate the city atop the medieval walls.

The hilly island of Korcula is located in the central Dalmatian archipelago in the Adriatic Sea, and legend has it this enchanting port was founded by a Trojan hero in 12th century BC. Climb the steps of Marco Polo Tower, believed to be the house where the famous world traveler was born in 1254. Admire the Gothic and Renaissance architecture of St. Mark’s Cathedral. Catch a water taxi to discover the 15th century Franciscan monastery on the island of Badija. Or simply explore Korcula: Surrounded by walls, towers and gates, the medieval town is very pedestrian friendly, and spans out like a fishbone, with marble streets that branch off. It’s the perfect setting to savor local cheese, olives and the region’s famous wine.

Its Adriatic seaside lined with palm trees, Split is the largest and most important city in Dalmatia, and custodian of the riches of culture and history found within and around the walls of the Roman emperor Diocletian’s palace. Begun in 295 AD as an imperial residence and fortified camp, its twisting cobblestone byways reveal churches and chapels both Romanesque and Gothic, and older places of worship such as the Temple of Jupiter. The old town is remarkably well preserved, and is full of museums, art galleries, and cozy cafes where you can pause along your way.

Just 55 miles north of Split is the city of Sibenik, situated where the River Krka meets the Adriatic. Since 1066, it has been under rule by Croatians, Venetians, Austro-Hungarians, Yugoslavians, and once again back to Croatians—which has resulted in a diversity of international influences.

This is particularly evident in the old part of Sibenik, with its many churches, palaces, Dalmatian houses, as well in the city’s stone walls and four fortresses: St. John, St. Michael, St. Nicholas and Šubićaevac. A must see is the Cathedral Sveti Jakov, and if you love the great outdoors, then visit Krka National Park or Kornati National Park.

Perched on Adriatic Sea in Croatia, Zadar is a truly captivating city, where history-drenched cobblestone streets meet contemporary life, then surrounded by deep blue sea, green olive groves, and white stone. Dubbed an “outdoor museum”, Zadar is rich in monuments and churches from ancient and medieval times—the circular 9th century Church St. Donat, the Church of St. Simeon and the Romanesque Cathedral of St. Anastasia—while nature lovers should explore Krka National Park and its seven waterfalls. Meander through the pedestrian-only Old Town, with its fortified city walls, towers and gates, then visit Zadar’s famous urban installations on the Riva, where art, architecture and science combine. Be sure to check out The Sea Organ, which extends into the sea and “whistles” with the waves and air pressure, and Greeting to the Sun, a circular construction of glass plates that produces an exceptional light show.

Pula may be a relatively undiscovered gem by most modern-day travelers, but with its protected harbor and strategic location on the southern tip of Croatia’s Istrian Peninsula, it’s proven a popular hit with invaders. For almost 3,000 years, Pula has been home to everyone from the Romans, Ostrogoths, and Venetians to medieval knights and the Austro-Hungarian empire.

One of the world’s most beautiful cities also happens to be one of its most unusual. Venice is actually made up of over 120 islands in the Adriatic Sea. Because the city is connected by canals instead of streets, a good way to see Venice is on a romantic gondola ride. The epicenter of the city is St. Mark’s Square, where you’ll find the 900-year-old Basilica of St. Mark

One of the world’s most beautiful cities also happens to be one of its most unusual. Venice is actually made up of over 120 islands in the Adriatic Sea. Because the city is connected by canals instead of streets, a good way to see Venice is on a romantic gondola ride. The epicenter of the city is St. Mark’s Square, where you’ll find the 900-year-old Basilica of St. Mark