Existing in a tangle of churches, cafes and cobbled streets, Kotor's Old Town is one of Europe's most atmospheric.
Brick Gothic churches and merchants' homes fill Lubeck, northern Germany, a UNESCO World Heritage site.
Just under 100 miles (160km) northwest of Madrid you'll find Segovia, a pocket-sized city and World Heritage Site crammed with historic landmarks.
The well-preserved Old Town of Grossbasel (Greater Basel) on the Rhine River delights history buffs.
Since it was the Union Pacific and Central Pacific rail line junction 35 miles (56km) north of Salt Lake City, the city has a rich railroad history.
Worlds away from the hectic metropolises of Tokyo and Osaka, the city of Takayama is situated in Japan's Gifu Prefecture.
The city of Nelson has its roots in the 1800s, when silver was struck in the area and a series of mines and a townsite were built up here.
Characterised by its Roman architecture, this city in France's Provence region has an artistic side too.
Ely is a small city in the Cambridgeshire Fens where Saint Etheldreda founded a Christian community in AD 673.