Until the mid-19th century, Japan lived in isolation, closed off from the rest of the world, and Yokohama was a mere fishing village. But in 1853, American naval officer Matthew Perry demanded the country open to foreign trade, and Yokohama was changed forever. The city quickly emerged as an international trading center, and while today it is often overshadowed by nearby Tokyo, it continues to be one of Japan’s liveliest, and most international, destinations. With its microbreweries and international restaurants, Yokohama has a decidedly different feel from many other Japanese cities. From Yokohama, it’s a quick trip to peaceful Kamakura, home to Daibutsu, Japan’s second-largest bronze Buddha, and to the important Shinto shrine Tsurugaoka Hachimangu. Head to Hakone National Park on a clear day and you’ll be rewarded with picture-postcard views of majestic Mt. Fuji. Tokyo is the largest city on earth and packed with some of the world’s best shops, museums and restaurants, big and small. While the bright neon lights and the bustle of contemporary Tokyo may be what comes to mind when you think of the city, there is another side. Tokyo‘s historic gardens and neighborhoods of traditional homes on narrow lanes speak to a timeless Japan that has survived into the 21st century.

A thriving harbor town for centuries, Shimizu is best known for its incredible scenic beauty. Take an excursion to Miho no Matsubara and enjoy stunning views of Mount Fuji and expansive black sand beaches; stroll through the graceful gardens and unique art installations of Tokachi Millennium Forest; and visit Kongofukuji Temple, first built by Kobo-daishi in 822 and rebuilt from 1662.

Think of Osaka, Japan (accent on the O), as a combination of Los Angeles and Chicago. It very definitely has L.A.’s second-city complex, but its attitude is pure Chicago. The only business that matters is business, and so what if the Hanshin Tigers, the local baseball team, are frequently the worst professional athletes in the world? They’re the home team. People in Osaka laugh louder, play harder and drink more than Tokyo’s most decadent dreams. Osaka even has its own dialect, one the rest of the country calls “dirty Japanese,” one entirely different than even Kobe’s—and Kobe is an Osaka suburb. Nothing is old in Osaka. The place was flattened during the war (and then again in 1962 and 1989, by Godzilla). During the reconstruction, they forgot to include much in the way of parks or green space, and the sheer amount of concrete and steel sights can get overwhelming. But Osaka has its attractions and interesting things to do. Sumo wrestlers wait for trains, reeking of chanko-nabe (traditional sumo food; pure energy and calories), just daring the official railway pushers to push them. Yakuza (Japanese gangsters) get train cars to themselves, but if you get on with them, it’s like you’re invisible. Busy markets, the visual noise of neon and nonstop action on shopping streets offer insight into the energy and ambition of Osaka. And if all that isn’t enough, Osaka is less than an hour from some of the most beautiful temples, shrines and ancient Japanese tourist attractions in the world—a thousand years of Japanese history—waiting in the old capitals of Kyoto and Nara.

High atop a hill in Kochi sits 17th-century Kochi Castle, once the seat of the Yamauchi lords. Explore this historic site and enjoy panoramic views of the city, then dine on sushi at Hirome Market.

Located in the southwest of Japan, Hiroshima, the main city of the Chugoku region, is set within a striking natural landscape of mountains, sea and rivers. Home to more than one million inhabitants, it’s famous as the site of the explosion of the world’s first atomic bomb, dropped by the U.S. in August 1945. This cataclysm is sensitively documented at the Hiroshima Peace Memorial Park and associated Hiroshima Peace Memorial Museum. The city offers visitors a great deal more than the tragedy of the recent past. In addition to the memorials to the events of World War II, there are an array of shrines and temples, as well as the city’s reconstructed castle, which was originally founded in the 16th century.Nature lovers will be charmed by the historic Shukkei-en Garden, commissioned in 1620, and Miyajima island, one of the most scenic spots in Japan. The city is home to a number of art institutions, including the Hiroshima Museum of Art, which houses a collection of Impressionist and Japanese oil paintings, the Hiroshima City Museum of Contemporary Art and the quirky Mazda Museum. There is also an array of excellent restaurants and bars—the city is known for its okonomiyaki, a type of savory pancake—as well as a popular oyster festival each year.

South Korea’s second-largest city (after the capital, Seoul), Busan is located in the southeastern corner of the country along the Sea of Japan. It combines a vibrant, big-city atmosphere with a famously laid-back attitude and subtropical landscapes. Often described as the “San Francisco of Korea,” thanks mainly to its hilly terrain and close-knit neighborhoods, it offers visitors a little of everything: fashionable boutiques, dynamic culture and buzzy nightlife, as well as sandy beaches, hot springs and nearby mountains crossed with hiking trails and dotted with temples. Cultural highlights include the Gamcheon Cultural Village; the spectacular Haedong Yonggungsa Temple, built into the side of a cliff; and Art Street in Sinchang-dong, which hosts art competitions, exhibitions and cultural events such as the annual Busan International Film Festival. Those who enjoy hiking can explore the famed cliffs of Taejongdae Park, while the white sand beaches at Gwangalli and Haeundae are ideal places to relax by the seashore. Foodies will love Busan, too, not just for its excellent restaurants but also for the many atmospheric markets: the low-key Millak Hoe Town Market, tourist spots like Jagalchi Fish Market and the market at Haeundae with its ramshackle stalls selling gukpab (a traditional rice soup).

Jeju, formerly Cheju, may not be familiar to most Americans, but for Korean travelers the country’s largest island and home to one of 12 UNESCO World Heritage Sites is a popular destination. The island is roughly the size of Maui and has much in common with the Hawaiian islands. Like them, it is a volcanic island—it first emerged from the sea some two million years ago and the volcano Hallasan, which reaches a height of 1,950 meters, is the tallest peak in South Korea. It also shares the mild subtropical climate of Hawaii—even in winter, temperatures rarely drop below freezing—and offers a similar broad range of activities whether in the warm ocean water or exploring the island’s interior on well-marked and maintained trails. Jeju has long been known as the “Island of Gods” after a legendary lost race from whom the island’s inhabitants are said to have descended. Perhaps this history helps explain the super-human feats of the haenyeo, women divers who harvest abalone from the sea floor without the use of scuba gear. Remarkable giants can still be spotted here with humpback and orca whales common in this part of the East China Sea.

Shanghai is one of Asia’s most dynamic cities, and one of juxtapositions. It’s divided in two by the Huangpu River—to the west is Puxi and to the east Pudong. Puxi is the city’s downtown and its historic center; on this side of the river, much of the city was historically divided into the famous foreign concessions, and it’s here that much of the shopping, dining and nightlife is concentrated today. Shanghai has more than 30,000 restaurants, from humble soup dumpling spots to formal affairs helmed by Michelin-starred chefs. Its museums, particularly the Shanghai Museum with its 120,000-strong collection of antiquities, are equally impressive. Pudong is where the city’s major skyscrapers stand, among them the Jin Mao and Oriental Pearl towers. Nowhere is Shanghai’s rich history and bright future more evident than along the Huangpu River. Stand on the Puxi side and, with the Bund—along which curve Shanghai’s stately early-20th-century heritage buildings—behind you, you can gaze across the river at some of the world’s tallest buildings, soaring skyscrapers that glow nightly, their lights reflected in the river.

Shanghai is one of Asia’s most dynamic cities, and one of juxtapositions. It’s divided in two by the Huangpu River—to the west is Puxi and to the east Pudong. Puxi is the city’s downtown and its historic center; on this side of the river, much of the city was historically divided into the famous foreign concessions, and it’s here that much of the shopping, dining and nightlife is concentrated today. Shanghai has more than 30,000 restaurants, from humble soup dumpling spots to formal affairs helmed by Michelin-starred chefs. Its museums, particularly the Shanghai Museum with its 120,000-strong collection of antiquities, are equally impressive. Pudong is where the city’s major skyscrapers stand, among them the Jin Mao and Oriental Pearl towers. Nowhere is Shanghai’s rich history and bright future more evident than along the Huangpu River. Stand on the Puxi side and, with the Bund—along which curve Shanghai’s stately early-20th-century heritage buildings—behind you, you can gaze across the river at some of the world’s tallest buildings, soaring skyscrapers that glow nightly, their lights reflected in the river.

Can any city in the world top Hong Kong‘s phenomenal energy? Judge for yourself as you ride the tram to the top of Victoria Peak, join the surge into countless markets and watch the hardworking world of Aberdeen‘s fishing junks. Sample shore excursions: Morning Tai Chi & Cooking Tour; Hong Kong Island City Sightseeing; Explore Lantau Island & Monastery.