Venice, a UNESCO World Heritage city, rises from a lagoon on more than 100 small islands linked by canals. A gondola ride passes under the Rialto Bridge and along the Grand Canal. At Piazza San Marco, St. Mark's Basilica and the Doge's Palace reflect Venetian power. Art highlights include the Gallerie dell'Accademia and Peggy Guggenheim Collection. Nearby Murano is known for glassblowers, and Burano for colorful shops and lace makers.

Piran, on Slovenia's narrow coast, is the gem of the Slovene Riviera. Venetian rule shaped its architecture: narrow cobblestoned streets, colorful houses with terracotta roofs, olive groves, and pebble beaches. In Tartini Square, enjoy coffee and views of the Venetian house, Teatre Piran, and harbor. Walk the medieval walls or climb the bell tower for a 360-degree view of Piran, Istria, Italy, and Croatia. Nearby Koper also offers beautiful views and the 15th-century Praetorian Palace.

Hvar is a glamorous island escape with super yachts, lively bars, lavender fields, vineyards, sunshine, and nonstop nightlife. But it also has deep culture and history: a Benedictine convent where nuns make lace in a 150-year-old UNESCO-recognized tradition, the UNESCO-listed Stari Grad Plain, unchanged since Greek colonization in the 4th century BC, and a beautifully preserved capital with an ancient fortress worth climbing for the views.

Kotor is unforgettable: the fjord-like Bay of Kotor winds through forested mountains to a sparkling sea, with the coral-roofed UNESCO Old Town tucked into the innermost cove. Venetian ramparts enclose landmarks like the 12th-century Cathedral of St. Tryphon and the Maritime Museum. Fit visitors can climb 1,350 steps to St. John's Fortress for sweeping views; others can take a boat to Our Lady of the Rocks or visit medieval Budva.

Dubrovnik, dubbed by Lord Byron the pearl of the Adriatic and by George Bernard Shaw a place to seek paradise on earth, is a UNESCO World Heritage city of red-tiled roofs, green hills, and the blue Adriatic. Its thick medieval walls encircle Gothic, Renaissance, and Baroque churches, monasteries, palaces, and fountains. It also featured prominently in Game of Thrones. Its ancient ramparts, surviving centuries of sieges, remain deeply inspiring.

The Venetians left their mark in Nafplio. Perched on a sea cliff, its fortress is a striking symbol of Venetian power. Stroll the Old Town's neoclassical buildings and bougainvillea-draped balconies. One of Greece's most beautiful and historic towns, Nafplio's roots reach back to the Argonauts and the Trojan War. Nearby: Mycenae's tomb of Agamemnon and Epidaurus's famed ancient theater, both UNESCO sites.

Athens, cradle of Western democracy, offers a living link to antiquity. Climb the Acropolis to see the Parthenon, Temple of Nike, and Erechtheion caryatids, then visit the Acropolis Museum for original statues and artifacts. The National Archaeological Museum is also outstanding. In the Agora, follow the footsteps of Plato, Aristotle, Socrates, Hippocrates, and Pericles. Finish in Plaka with its winding lanes and lively tavernas.