Get to know a pair of the most beautiful and historic cities in Germany during a day of sightseeing filled with medieval grandeur. With a look at the imposing ruins of Heidelberg Castle and the seat of Holy Roman Emperors in Nuremberg, you get a great look at the region's colorful past.

After you meet your guide, set out for a visit to the picturesque city of Heidelberg along the river Neckar. Tour the famous Heidelberg Castle for a look at the long courtyard, the mighty terrace, and one of the largest wine barrels in the world, and then take a walk in the city's medieval town center to marvel at the Old Bridge, Karl's Gate, the Church of the Holy Spirit, and the House of the Knights, as well as the oldest university in Germany.

In the afternoon, you cross into Bavaria for a visit to the storied city of Nuremberg. Look up at the mighty Imperial Castle, or Kaiserburg, that stands as one of the grandest medieval fortifications in Europe, and then see the house of the iconic painter Albrecht Dürer, the steeples of the Old City Hall, and the site of the famous Christkindl's market. Start your return journey after a look at the towering Gothic façades of the St. Lorenz Church and the Frauenkirche.