Discover Southampton’s maritime history at the SeaCity Museum or see impressive works in the city’s art gallery. Jane Austen used to walk Southampton’s city walls and you can too, stopping at the Tudor House Museum along the way. Go all nostalgic over vintage cars at the National Motor Museum at Beaulieu or see King Arthur’s fabled Round Table at nearby Winchester, the ancient capital of England.

Perched on a rocky peninsula in Spain‘s northwest, La Coruna is brimming with ancient Roman heritage and maritime history. Head to the Crystal City, located right near the harbor, and check out the galerias — the city is famous for these 19th-century enclosed glass balconies that reflect the glittering waters of the Atlantic. Then, walk the Paseo Maritimo: The promenade will take you past ocean views to the Cidade Vella, the city‘s old town full of remnants of the ancient and medieval past. Walk along the still-standing remnants of the city‘s Roman Wall, and climb the green hill to the Tower of Hercules — a Roman lighthouse that‘s been in active use since the second century A.D.

The sun will shine upon you as you enter the harbor of Vigo, the largest city in Spain‘s autonomous Galicia region. Start your adventure by ascending the Castro Fortress — you can take in views of the city and the lushly forested mountains around it from these granite-walled 17th-century fortifications. Then, learn up about the region at one of Vigo‘s excellent museums: Museo do Mar Galicia features exhibits on the local oceanography and ecosystems, while the Vigo Museum of Contemporary Art hosts a changing lineup of participatory workshops and installations by innovative artists working today. Later, stretch your legs on the GR-53, a 25-mile path along the coastline and low mountain peaks around the city, or relax by the blue waters of Cies Beach.

Portugal‘s vibrant city of Porto is a melting pot of culture waiting to be explored. Venture into the many wine cellars that dot the city or take a walk across the Dom Louis Bridge and absorb the sweeping views of Porto around you. Spend hours wandering around the colourful streets lined with tiled houses and buildings. And if relaxing is more your speed, head to one of the restaurants on the Cais de Ribeira, like A Bolina, for some Portuguese tapas paired with a glass of vinho verde. Cruise to Porto to sit back and soak up the ambience of the buzzing city.

Lisbon is a quintessential European city, full of natural beauty, historic architecture and culinary pleasures — not to mention one of the best climates anywhere on the planet. To get to know Portugal‘s capital, walk between the captivating miradouros — terrace viewpoints that are scattered on the hilltops, offering stunning vistas from the sea to the castles and beyond. Watch as the light peeks through the clouds and shines down on The City of Seven Hills during your cruise to Lisbon. If you‘re a history buff, head to Belem or nearby Sintra to explore UNESCO World Heritage Sites like the Jeronimos Monastery and Quinta da Regalaira.

Spain‘s third largest city, Valencia offers a little bit of everything, from historic sites and bustling city squares to placid beaches. Soak up the sun at Malvarrosa Beach along the urban seafront, or head to El Saler for a more remote beach experience surrounded by white-sand dunes and pine trees. Cruise to Valencia and get your culture fix at Gothic Valencia Cathedral, and see the 15th-century renaissance paintings housed in its interior. Head to Plaza de la Reina in the city‘s old town and do some people-watching over a fresh glass of horchata, a classic Valencia beverage made from almond milk with cinnamon and spices, or take a picnic lunch of fresh pears and local cheese to the quiet Turia Gardens.