It’s easy to see why Barcelona is the most-visited city in Spain. As the capital of the country’s Catalonia region, this cityscape’s cultural mosaic pieces together a 2,000-year-old hodge-podge of sun-drenched beaches, cutting edge architecture and a world-renowned dining and drinking scene. Catalan architect Antoni Gaudi left his modernist handprint all over the city, while medieval treasures linger in historic Gothic Quarter squares. Get lost in the whimsical gardens of Park Guell or savour a chef-led Catalan cooking class. Browse art collections dedicated to Picasso and Miro – or ride a cable car to the top of Montjuic Hill, relishing citywide views along the way.

The Spanish island of Mallorca offers towering mountains and dramatic cliffs rising over clear, blue water – but its hidden gem is Palma de Mallorca (Majorca), the island's capital and largest city, where you'll find quaint historic streets, Gothic castles and gastronomic delights. Cruise to Palma de Mallorca and check out one-of-a-kind Palma Cathedral: The 14th-century Gothic spires of exterior contrast the modernist interior designed by in the early 1900s by Gaudi. See the circular courtyard and Arab-inspired arches of Castell de Bellver, and take in the fresh scent of the miles of pine forest that surround it. Or hire bikes and pedal east to Palma Beach, where you can soak in the sun on the white sands and clear waves.

The hub of Spain's southern Costa del Sol, Málaga is the picture of paradise. Scale the hilltop to dramatic La Alcazaba, the sandy-colored Moorish fortress dating back to the 11th century that overlooks this ancient seaside city. Sun yourself on the idyllic beaches of Caleta and Malagueta, taking in views of the mountains across the bay. See the eccentric works of modernist master Pablo Picasso, the city's most famous native son, at the Picasso Museum. Cruise to Málaga and immerse yourself in baroque and renaissance architecture at Málaga Cathedral, with its elaborate arches and stone reliefs depicting the saints, or turn the clock back to the first century A.D. at the ruins of the Roman Theatre.

Moroccan mystique envelops this cosmopolitan city, which is considered to be the economic capital of Morocco. Traits of ancient times co-exist with a modern metropolis, and the mix of European, Art-Deco and Art-Nouveau architecture brings colour and vibrancy to the city. Influenced by Arabia and Africa, it is culturally diverse, to say the least, and the exotic sights and smells omitted from the Souk markets are fascinating. Casablanca is awash with white buildings, striking a contrast to the blue Atlantic waters surrounding it, and boasts a thriving city centre and busy boulevards, making it a popular port of call.

Tangier, a Moroccan port on the Strait of Gibraltar, has been a strategic gateway between Africa and Europe since Phoenician times. Its whitewashed hillside medina is home to the Dar el Makhzen, a palace of the sultans that's now a museum of Moroccan artifacts. The American Legation Museum, also in the medina, documents early diplomatic relations between the U.S. and Morocco in an 1821 Moorish-style former consulate

Lisbon is a quintessential European city, full of natural beauty, historic architecture and culinary pleasures — not to mention one of the best climates anywhere on the planet. To get to know Portugal's capital, walk between the captivating miradouros — terrace viewpoints that are scattered on the hilltops, offering stunning vistas from the sea to the castles and beyond. Watch as the light peeks through the clouds and shines down on The City of Seven Hills during your cruise to Lisbon. If you're a history buff, head to Belem or nearby Sintra to explore UNESCO World Heritage Sites like the Jeronimos Monastery and Quinta da Regalaira.