Ahh, Europe: we adore you. While narrowing down the best cities is an impossible task, here are some of our favorites:

• Berlin, Germany: It’s hard to beat this city’s stunning collection of monuments and museums, many of them situated on Museum Island in the middle of the River Spree. The excellent and extensive public transportation network means nothing is too far away, from live music and legendary clubs to great shopping and award-winning restaurants and entertainment.
• Prague, Czech Republic: The heart of this romantic city is undoubtedly the Charles Bridge, leading from Old Town and Franz Kafka’s medieval Prague. Known for landmarks including the Wallenstein Palace, grand Gothic St. Vitus Cathedral, John Lennon tribute wall and the Prague Castle, this city offers no end of fascinating corners and unique lodging options, including the Golden Well Hotel, once the private home of Emperor Rudolph II and later to Danish mystic-astronomer Tycho de Brahe.
• Copenhagen, Denmark: Viking spirit is alive and well in this northern capital, with a charming selection of museums and galleries. Find them along a network of canals and historic streets that include Strøget, one Europe’s oldest pedestrian streets, leading directly into Kongens Nytorv (The King’s New Square). Noteworthy stops include Rosenborg Castle, home to the Danish Crown Jewels; the Danish Rococo Amalienborg Palace where there’s a colorful daily Changing of the Royal Guard; and Designmuseum Danmark, where the permanent exhibition includes numerous works by Danish design masters.
• Lisbon, Portugal: Climbing out of the sea, this colorful port city is usually included in lists designating the most beautiful cities in the world, and with good reason. Layered and resplendent in sea-washed shades of yellows, creams and rust, it has a marvelous central walking promenade leading from the city gates across from the seafront. Trams rattle up and down the steep slopes, while the remains of Sao Jorge’s Castle preside over the city’s tiled terraces and splashing fountains below.
• Madrid, Spain: Barcelona gets a lot of attention for its eclectic blend of architecture, but Madrid takes the prize for its well-planned streets and transportation system. Spilling over with wonderful restaurants, eclectic cafés, live music and plazas, it’s also home to world-class museums including the Museo Nacional del Prado, Reina Sofia and Caixa Forum.
• Rome, Italy: For sheer jaw-dropping wonder, there’s only Rome. Where else can you walk among such a concentrated collection of Roman architectural artifacts, and dine on some of the best fresh fare and wines on the planet? Stay at the Hotel Mediterraneo, an Art Deco masterpiece on Via Cavour within pleasant walking distance of the Coliseum and the Roman Forum, and not too far from must-see sites including Trevi Fountain and the Spanish Steps.
• Lucerne, Switzerland: This little lakeside city is straight from a storybook. Enjoy the iconic covered wooden bridge over the Reuss River, lovely preserved medieval architecture, Old Town and a skyline of towering Alps. An ideal destination for relaxing, cultural pursuits and romance, it also offers plenty of outdoor sporting opportunities resting literally at its doorstep.
• Helsinki, Finland: Love the water? Exploring a fascinating collection of city islands by ferry is a must-do in this Nordic address. The core of the downtown area features a lovely central square called Esplanadi Park with a host of historic buildings (including the Hotel Kämp) facing it. Take a traditional sauna at the waterfront spa complex near Market Square, and dine on reindeer and bear in the Restaurant Savotta below street level near Senate Square.
• Salzburg, Austria: Infinitely walkable and filled with charm, this small city, divided by the winding Salzach River, is known for its music and as the birthplace of Mozart — and the markets, cafés and restaurants will have you singing all the through the streets of the Old City and up to the doors of the central castle.