Get an overview of the city with a panoramic tour that carries you past such sights as the State Opera House, the National Museum, and Wenceslas Square. After strolling through Golden Lane, a street of quaint cottages where Prague's 17th-century goldsmiths lived (alas, there's no truth to the legend that it was named for the royal alchemists), you may reboard the motorcoach for a ride back to the hotel or continue our guided walk through the picturesque Lesser Quarter, the district around Prague Castle, to Charles Bridge. Cross the landmark bridge named for Charles IV, who ordered its construction in 1357; it's strictly for pedestrians now, so you can pause and look down at the Vltava below you and examine some of the statues that line the bridge, before you head to Old Town Square. This was the original market square; the buildings that surround it form a case study in Prague's architectural history. You'll find Prague's most famous Gothic church, Our Lady Before Týn, there, along with the 14th-century Old Town Hall (which boasts a famous medieval astronomical clock), the beautiful baroque St. Nicholas, the rococo Kinsky Palace, and a group of Renaissance houses.

Walk up a cobblestone incline to Heidelberg Castle, where you’ll have a guided tour of the courtyard and the Heidelberg Tun—the world’s largest wine barrel. The views from the hilltop castle ruins, which greatly inspired writers and artists of the Romantic era, are simply spectacular. Later, enjoy a leisurely lunch on your own and explore the culinary treasures and charming shops in town before boarding the coach back to your ship.

Note: lunch is not included with this excursion.

Board a little train for a charming ride through Rüdesheim. The train will pick you up outside the ship and begin a comprehensive drive through town, passing the famous Drosselgasse and other must-see sights along the way. Take note of your favorite spots as you go, because you’ll have free time to explore on your own at the end of the ride.

Immerse yourselves in the vines today with a refreshing walk through the vineyards by Rüdesheim. Starting with a walk by the river, you’ll wind your way past the markets square and up through the Weinlehrpfad, the Wine Trail. Along the way, you’ll pass several historic buildings and monuments, learning their stories from your guide as you go, enjoy a glass of wine made from the vines around you, and discover some beautiful views of the surrounding landscapes, including the Nahe river with its Roman Bridge.

Hovering over the Moselle River, the stunningly medieval Cochem Castle dates back to 1100 and once served to collect tolls from passing ships. Since its construction, it has changed appearance and rulers many times, currently appearing in the then-popular Neo-Gothic architecture style. A popular local landmark, Cochem Castle is a highlight of your walking tour in town today.

Walk hundreds of feet above the forest as you cross the suspension bridge of Geierlay, the longest of its kind in Germany. Take your time to absorb the beauty of nature during this approximately 2-hour hike, during which you’ll pass by various creeks, seasonal vegetation, and scenic valleys.

In ancient times Trier was the largest Roman settlement north of the Alps, and six emperors ruled the Western Empire from here. Remnants of that Roman city still stand, despite taking part in centuries of warfare, earning it UNESCO protection. It’s easy to see the shape of the ancient Roman city, since the layout of the Old Town still exists. Start your visit at the Basilica of Constantine, one of two basilicas built by Emperor Constantine in AD 306. The throne room is the largest surviving single-room structure from Roman times in Germany; it features two tiers of windows with high-rising arches that even now show some of the original wall paintings. The other basilica is St. Peter’s Cathedral, home to the Holy Tunic, a sacred relic donated by Constantine’s mother, St. Helena. Your route to Porta Nigra, the great double-arched stone gate that is all that remains of the Roman wall that used to surround Trier, takes you through Market Square.

Note: lunch will be on your own today.

Over the course of 900 years, Luxembourg grew into one of the greatest fortified sites in Europe because of its strategic geographical position and ever-changing political affiliations. Your panoramic city tour will introduce you to centuries-old battlements as well as to the gleaming high-rises that denote the city’s status as a 21st-century international financial center. To best discover the heart of Old Town, though, you’ll want to walk with a local expert to Notre Dame Cathedral, a fine example of late-Gothic architecture, and the Grand Ducal Palace, where both Louis XIV and Napoleon resided. It has been the official residence of the reigning Grand Duke since 1890.

Your tour ends at Place d’Armes, “the city’s sitting room.” Surrounded by shops and sidewalk cafés, with frequent free afternoon concerts, this is the lively heart of Luxembourg. You’ll have some free time to enjoy yourself on your own there. Or choose to continue to the WWII Luxembourg American Cemetery and Memorial, which lies just within the limits of Luxembourg City. The 50-acre cemetery was established on December 29, 1944, by General George S. Patton’s Third U.S. Army, which liberated Luxembourg. More than 5,000 U.S. military dead are buried here—many of whom lost their lives in the Battle of the Bulge—along with General Patton himself. See the beautiful grounds, white stone chapel, and monument honoring the fallen.

Note: lunch will be on your own today.