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Immersed in history, London's rich seams of eye-opening antiquity are everywhere. The city's buildings are striking milestones in a unique and beguiling biography, and a great many of them – the Tower of London, Westminster Abbey, Big Ben – are instantly recognisable landmarks. There’s more than enough innovation (the Shard, the Tate Modern extension, the planned Garden Bridge) to put a crackle in the air, but it never drowns out London’s seasoned, centuries-old narrative.

For most, any trip to the Empire State starts or finishes in its iconic metropolis: New York City. However, if you confine your travels only to the five boroughs there's a considerable amount you're missing out on. Long Island and upstate New York – generally accepted as anywhere north of the NYC metro area – shouldn't be missed. Long Island has cozy beach towns, while upstate is a dream destination for those who cherish the great outdoors. In the east you'll find the St Lawrence River and its thousands of islands, as well as the magnificent Adirondack and Catskills mountains. Head to the middle of the state and you'll be ensconced in the serene Finger Lakes.

Tokyo feels limitless in size and scope and often seems more like a collection of cities than one cohesive whole. At the centre is the Imperial Palace. To the east of the palace is the old city, the historic downtown that came to life during the feudal era (when a castle stood where the palace is today). Here, in neighbourhoods like Ueno and Asakusa, the attractions have a more traditional slant: there are museums, shrines and temples, historic restaurants and artisan workshops.

A trip to Rome is as much about lapping up the dolce vita lifestyle as gorging on art and culture. Idling around picturesque streets, whiling away hours at streetside cafes, people-watching on pretty piazzas – these are all an integral part of the Roman experience. The tempo rises as the heat of the day gives way to the evening cool and the fashionably dressed aperitivo (pre-dinner drinks) crowd descends on the city's bars and cafes.

The earliest structures in the colony were built to the bare minimum of standards. Upon his appointment, Governor Lachlan Macquarie set ambitious targets for the architectural design of new construction projects. The city now has a world heritage listed building, several national heritage listed buildings, and dozens of Commonwealth heritage listed buildings as evidence of the survival of Macquarie's ideals.

This is a city that staged a revolution, was headquartered by Nazis, bombed to bits, divided in two and finally reunited – and that was just in the 20th century! Walk along remnants of the Berlin Wall, marvel at the splendour of a Prussian palace, visit Checkpoint Charlie or stand in the very room where the Holocaust was planned. Berlin is like an endlessly fascinating 3D textbook where the past is very much present wherever you go.

While it might lack the world-class cultural institutions of Berlin, Belgrade, at the confluence of the Sava and Danube rivers, offers its own distinctive appeal, with storybook historical districts and venerable fortresses and parks. Better still, this center of Slavic cool just got much easier to reach: Direct flights from North America, via New York City, started in June on Air Serbia. Throw in Belgrade’s cafe scene, low prices, talented young designers, emerging former industrial districts, sausage-filled cuisine and unbridled night life — from D.J. bars to party boats to all-hours nightclubs — and the comparison seems even more compelling.

Garden islands and lagoon aquaculture yield speciality produce and seafood you won’t find elsewhere – all highlighted in inventive Venetian cuisine, with tantalising traces of ancient spice routes. The city knows how to put on a royal spread, as France’s King Henry III once found out when faced with 1200 dishes and 200 bonbons.

Barcelona is an enchanting seaside city with boundless culture, fabled architecture and a world-class drinking and dining scene. Barcelona's architectural treasures span 2000-plus years. Towering temple columns, ancient city walls and subterranean stone corridors provide a window into Roman-era Barcino. Fast forward a thousand years or so to the Middle Ages by taking a stroll through the shadowy lanes of the Gothic quarter, past tranquil plazas and soaring 14th-century cathedrals.

The Castle District encompasses Castle Hill (Várhegy) – nerve centre of Budapest’s history and packed with many of the capital’s most important museums and other attractions – as well as ground-level Víziváros (Watertown). What the latter lacks in sights it makes up for in excellent restaurants, many of them around Széll Kálmán tér, a major transport hub and the centre of urban Buda.