Lisbon, said to have been founded by Ulysses as Olisipo, is one of Europe's most fascinating cities. A devastating 1755 earthquake destroyed much of it, and the Baixa was rebuilt in neo-classical style, now the city's heart. Overlooking the Tagus, the "City of Explorers" offers districts like Alfama, with Moorish lanes, and Bairro Alto, where you can hear Fado. Nearby are the palaces of Queluz and Sintra.

Madeira is described as the "Island of Eternal Spring." Entirely volcanic in origin, the soil combines with the mild climate to produce an abundance of green as well as multicolored vegetation. The rugged landscape, scenic fishing villages, magnificent vistas and ideal climate bring the island fame as a year-round resort. Before leaving this panoramic Atlantic isle, be sure to sample a glass of the famous Madeira wine.

Discover Las Palmas's seaside sophistication: year-round springlike weather, magnificent beaches, gardens, and stylish sunseekers. Explore Plaza de Santa Ana and its 15th-century twin-towered cathedral. Visit Casa de Colón, where Christopher Columbus allegedly slept in 1492. Stroll Vegueta and Triana's old quarters, with cobblestone streets, galleries, restaurants, and shops selling Canarian wine, ron miel, and tobacco.

Tenerife's privileged setting allows you to enjoy beautiful beaches such as las Teresitas; admire the enchanting Orchid Gardens, founded in 1774 as a historic English garden, or visit the Teide National Park, the symbol of the island.

Mindelo, on São Vicente, sits in a mountain-ringed bay and is a lively, music-filled city. Visit the new Floating Music Hub by architect Kunlé Adeyemi, stroll Porto Grande's harbor for paintings, ceramics, and woodwork, climb Monte Verde for sweeping bay views, and explore Mercado Municipal or the historic Fortim d'El-Rei for a glimpse of the city's past.

Experience Dakar's rhythm and vibrancy: bustling open-air markets, colonial architecture, and French influences. See the African Renaissance Monument, taller than the Statue of Liberty. Shop for embroidered cloth, lace, and silk for boubou robes. Try bissap, a hibiscus drink. Browse the gallery and gardens of L'Institut Français, then enjoy a café au lait and pastry in this dynamic city.

Although the capital of Gambia, Banjul remains one of Africa's smallest cities. Nestled on St. Mary's Island at the mouth of the Gambia River, it exudes a village-like atmosphere. Spend a carefree day admiring the 19th century architecture in MacCarthy Square or visiting the landmark King Fahad Mosque with its twin minarets. Explore the Gambia National Museum, which houses historical, archaeological and cultural artifacts. And shop for unique gifts at the bustling and lively Albert Market.

Abidjan, Ivory Coast's largest city and former capital, curves around the Ebrié Lagoon. One of the world's largest French-speaking cities, it's often called the "Paris of Africa." Its affluent Le Plateau and Cocody neighborhoods have a European feel. See modern architecture like Cathedral St. Paul and La Pyramide, or visit the National Museum for traditional art, including masks, pottery, and wooden statues.

Portuguese explorers who landed in 1471 named Ghana the Gold Coast. English, Danish, Dutch and German traders built forts and castles to reap its riches. In the 17th century Frederick William of Brandenburg built Taccarary, later Takoradi. Visit Monkey Hill nature preserve in the city, then Elmina Castle (built by the Portuguese in 1482 and the earliest known European structure in the tropics), Cape Coast Castle, and Kakum National Park, where you can walk the rainforest canopy.

Lomé is Togo's capital and main port. Formerly part of German-colonized Togoland (1894), it offers the Lomé Grand Market, the National Museum in Palais de Congrés, and Lomé Cathedral. Excursions showcase Togo's folklore and history, including an authentic voodoo ceremony in Sanguera, a visit to Mount Agou, Togo's highest peak, and an Ewe village with the Akpesse folk dance.

Off the beaten path, São Tomé is a tropical paradise that offers lush rainforests, bird watching, secluded waterfalls and pristine, isolated beaches. Discovered and claimed by Portugal in the late 15th century, the tiny volcanic island offers a unique blend of Portuguese and Creole culture rarely seen anywhere else in the world. Enjoy spectacular views on a hike to the peak of Pico de São Tomé, go in search of the 109 species of orchid, or marvel at the impressive Boca do Inferno blowhole.

Walvis Bay, a natural lagoon and Namibia's only deep-sea harbor, offers something for everyone, especially spectacular bird-watching as thousands of migratory species join local flamingoes and pelicans each year. Nearby Dune 7 rises over the scenic bay and offers great photo opportunities. The city is also a good base for day trips into the desert, including off-road adventures and fly-over dolphin and whale watching.

Walvis Bay, a natural lagoon and Namibia's only deep-sea harbor, offers something for everyone, especially spectacular bird-watching as thousands of migratory species join local flamingoes and pelicans each year. Nearby Dune 7 rises over the scenic bay and offers great photo opportunities. The city is also a good base for day trips into the desert, including off-road adventures and fly-over dolphin and whale watching.

Called "the fairest cape in the whole circumference of the earth" and one of the world's most beautiful cities, Cape Town offers museums, parks and shops, plus mountains, beaches and wineries. Ride a cable car up Table Mountain for views of valleys and the Atlantic and Indian Oceans. A historical highlight is Robben Island, once home to anti-apartheid leaders including Nelson Mandela.

Called "the fairest cape in the whole circumference of the earth" and one of the world's most beautiful cities, Cape Town offers museums, parks and shops, plus mountains, beaches and wineries. Ride a cable car up Table Mountain for views of valleys and the Atlantic and Indian Oceans. A historical highlight is Robben Island, once home to anti-apartheid leaders including Nelson Mandela.