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.

The new and the old meet head-on in Bilbao – the unofficial capital of Basque country in Spain’s northwest, near southern France. Once an industrial capital, the opening of the Guggenheim in 1997 propelled Bilbao into a hub of outstanding art, architecture and gastronomy. Today, modern trams travel on historic avenues like the Siete Calles (‘Seven Streets’) of Casco Viejo – Bilbao’s medieval quarter, which today is dotted with boutiques, bakeries and outdoor cafés. Meanwhile, futuristic buildings like the titanium-clad Guggenheim Museum and the Gran Hotel Domine hang over the Nervion river that runs through the city. There’s no other city with such a polarity of scenes in Spain. Get onboard a Spain cruise and see for yourself why Bilbao is the pride and joy of Basque Country.

Once an ancient Roman port, Gijon is now a spirited seaside metropolis filled with cider houses, beachside walkways and museums that preserve its distinct history. As the largest and busiest city in Asturias, Gijon went through years of rebuilding to better showcase what many already loved: the porticoed buildings, the cobblestone streets and the ancient palaces. Cruise to Gijon, Spain and see all of these as you walk the edge of the water and up Gijon’s lovely hills. Then, stroll amongst yews and banana trees at the Jardin Botanico Atlantico, and get a clear view of the windswept sea from Mirador Parque de la Providencia.

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.

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.

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.