Arrive in Frankfurt and have your private transfer awaiting you. After checking in to your hotel, you'll have time to explore some of the city's attractions, including Römer, the iconic town hall since 1405, Frankfurt Cathedral with a tower providing city views, the Botanical Garden with its extensive palm and orchid collection, the Goethe House and Museum, the Städel Museum offering European art from the 14th century to today.

In the evening, experience one of Frankfurt's culinary traditions in Old Sachsenhausen. With its apple wine pubs, the historic half-timbered houses, restaurants and narrow alleys stand for Frankfurt coziness and hospitality. You'll find traditional Frankfurt specialties, including marinated hard cheese, sausages, dumplings, ribs and steak, all served with a jug of the eponymous "apfelwein". The Old Sachsenhausen quarter is just a short taxi ride or one can take the trams 14 or 18 across the Main River.

(Accommodations, Frankfurt)

After breakfast, you'll pick up your rental car for the pleasant 90 minute ride on the well-marked Castle Road to the charming town of Heidelberg. After checking into your hotel, this city is best explored on foot. It's a lively city, home to Germany's oldest university. Heidelberg's historical old quarter is the oldest part of town, enchanting visitors with its wealth of romantic lanes, ornate Renaissance buildings and imposing churches. The famous Schloss Heidelberg (castle) perched above the Neckar River is a must see attraction and can be reached via the funicular. When you arrive, you'll be rewarded with panoramic views of the city and the Neckar Valley. You can stroll the castle grounds and tour the interesting Apothecary Museum. There's also a small café.

(Breakfast, Frankfurt; Accommodations, Heidelberg)

After a leisurely breakfast, enjoy the scenic Franconian countryside on your way to Rothenburg ob der Tauber*, commonly recognized as one of the best medieval towns in Germany. And spending the night here is even more rewarding as the day-trippers depart, leaving this quaint town to yourself. Rothenburg is synonymous with Christmas markets, and you'll find several ornament shops, which makes the perfect souvenir for friends and family. St Jakob's Church holds one of the most elaborate wood-carved altarpieces, dating back 500 years. In the evening, you can walk along the ramparts overlooking the city, or take the popular Night Watchman Tour. It's an entertaining and informative tour as your guide regales you with stories about the Middle Ages, while wandering through dark alleyways and dimly lit squares.

* When driving, make sure you follow the signs to "Rothenburg ob der Tauber", as there are several "Rothenburgs" as well as a "Rothenberg".

(Breakfast Heidelberg; Accommodations, Rothenburg)

Continuing on the Castle Road, the drive to Nuremberg is less than 2 hours, which gives you plenty of time for sightseeing along the way. After checking into your hotel, a few options are the National Germanic Museum, and the Transport Museum; ideal for rail buffs with perfectly restored steam and diesel engines. The Documentation Center Nazi Party Rally Grounds is one of Germany's most important museums, dedicated to the darkest period in the country's history. In a wing of the Congress Hall where Nazi Party rallies were held its most notable exhibit is called "Fascination and Terror", and deals with many facets of the Nazis' time in power. And the famous Nuremberg Trials subsequently took place here after the war. In the evening, explore the city's narrow alleyways dating back to the Middle Ages in the Altstadt (Old Town). Here you'll find many restaurants amid medieval architecture and timbered houses.

(Breakfast, Rothenburg; Accommodations, Nuremberg)

After breakfast, before continuing your journey on the Castle Road, take a tour (independently) of the Imperial Castle of Nuremberg. It lies just to the north of Old Town and is one of the most important surviving medieval fortresses in Europe. The castle remains the symbol of Nuremberg, and since the Middle Ages its silhouette has represented the power and importance of the Holy Roman Empire. Only an hour's drive away is the town of Ahorntal, and sitting high above the village lies the impressive Burg Rabenstein. It has a history of playing host to royalty, dating back to King Ludwig I of Bavaria. The castle hotel is surrounded by a 150-acre natural paradise where one can enjoy idyllic hiking trails leading to breathtaking stalactite caves. After an invigorating hike, stop in their spacious sunny beer garden for a refreshing drink. And in the evening, enjoy dinner in the Burgküche, offering an inviting à la carte castle menu.

(Breakfast, Nuremberg; Accommodations, Ahorntal)

After breakfast, make the short drive back to Nuremberg to return your car, and continue to your next Avanti Destination!

(Breakfast, Ahorntal)