Sitting pretty on the sandy coastline between Tokyo and Kyoto, Japan's fourth-largest city is home to a thriving harbor district that is a lively destination in its own right. Part of the Garden Pier entertainment area, the country's busiest port is set around leafy landscaped grounds, home to an amusement park, shopping mall and aquarium. Wonder at the centuries-old wooden vessels that mapped the seas during the Age of Discoveries, displayed in intricate models at the port's Maritime Museum, and discover museum-ship Fuji, an icebreaker that explored Antarctica in the 1960s and 1970s. Further afield, a pair of golden shachihoko sea monsters crown Nagoya's imposing five-storey 17th-century castle. A symbol of this city's prosperity during the Tokugawa dynasty, the castle dates from Japan's Edo period and its powerful shoguns. Nearby, step back in time to that era on the streets of the Shikemichi preservation district, lined with white-walled merchants' houses now transformed into cafés and craft boutiques.

An imposing moated castle, its black-tiled roofs curling up towards the sky, sits across the street from a modern art museum in this multi-faceted city in southern Japan. It's also the capital of Wakayama prefecture, a mystical place of monastic settlements and mountainous pilgrimage trails. There are spiritual sites to visit right in town, too, with a trio of revered Shinto shrines said to be among the oldest in the country. Tap into the area's reputation as a hotbed for onsen (thermal springs) with a soak in mineral-rich waters, and try the province's mandarin oranges and famous umeboshi (salted pickled plums).

Kanmon Strait is one of Japan's most scenic and historically significant waterways. Separating Japan's main islands of Honshu and Kyushu, this narrow channel of water is flanked on either side by the cities of Shimonoseki and Kitakyushu and hosts hundreds of ships every day. As we glide across the water, look up at the iconic Kanmon Bridge stretching between the islands and keep an eye out for historic 19th-century lighthouses built at either end of Kanmon Strait to help guide ships through the narrow passage.

Framed by steam-shrouded mountains, Beppu is a city at the pulsing heart of Japan's onsen culture. The smoking fumaroles, bubbling pools, and spouting geysers that permeate the earth here across the Oita prefecture produce more spring water than anywhere else in Japan. And with this come spectacular onsen resorts, spa hotels set into forest-fringed coastal cliffs, and traditional ryokan tucked into secluded bays. The top of Mount Tsurumi is the place to view this magical misty scene, climbing above city and sea to its 1,375m summit aboard the Ropeway cable car. In spring, the slopes below blush pink as some 2,000 cherry blossom trees come into bloom. Steam makes its way into Beppu's distinctive jigoku-mushi cuisine, too, harnessing the hot springs to cook mineral-rich dishes. Hike through the caldera-sculpted landscape of nearby Aso Kuju National Park or, in spring and summer, kayak across the flooded rice fields and flowering marshland.

Kanmon Strait is one of Japan's most scenic and historically significant waterways. Separating Japan's main islands of Honshu and Kyushu, this narrow channel of water is flanked on either side by the cities of Shimonoseki and Kitakyushu and hosts hundreds of ships every day. As we glide across the water, look up at the iconic Kanmon Bridge stretching between the islands and keep an eye out for historic 19th-century lighthouses built at either end of Kanmon Strait to help guide ships through the narrow passage.

Shanghai, located just inside the mouth of the great Yangtze River, marks the point where Asia's longest and most important river completes its 3,400-mile journey to the Pacific. The city's unique location is the source of its existence and has determined what it is today. Until 1842, Shanghai was merely a tiny fishing village. Following the first Opium War, Shanghai became a treaty port, which opened the city to foreign influence and resulted in the development of numerous British, French and American colonial settlements within the city and along the Yangtze River. Today, Shanghai is the center of China's economic resurgence and its skyline attests to this development in the form of towering skyscrapers, brightly lit commercial high-rises and the unsettling Oriental Pearl Tower. A testimony to Shanghai's colonial era, stately European buildings in art deco style line the Bund, the city's spacious waterfront promenade. An endless flotilla of sampans edge the Huangpu River, dividing old and new Shanghai. Beyond the rush of the city, serene ponds and gardens offer a gentle respite. Must-see sights include the Jade Buddha Temple and tranquil Yu Garden, impressive monuments to China's history and style. Inland lies Suzhou, with its majestic Grand Canal and classical gardens, as well as equally significant Hangzhou, terminus of the Grand Canal and the center of China's legendary tea industry.

Shanghai, located just inside the mouth of the great Yangtze River, marks the point where Asia's longest and most important river completes its 3,400-mile journey to the Pacific. The city's unique location is the source of its existence and has determined what it is today. Until 1842, Shanghai was merely a tiny fishing village. Following the first Opium War, Shanghai became a treaty port, which opened the city to foreign influence and resulted in the development of numerous British, French and American colonial settlements within the city and along the Yangtze River. Today, Shanghai is the center of China's economic resurgence and its skyline attests to this development in the form of towering skyscrapers, brightly lit commercial high-rises and the unsettling Oriental Pearl Tower. A testimony to Shanghai's colonial era, stately European buildings in art deco style line the Bund, the city's spacious waterfront promenade. An endless flotilla of sampans edge the Huangpu River, dividing old and new Shanghai. Beyond the rush of the city, serene ponds and gardens offer a gentle respite. Must-see sights include the Jade Buddha Temple and tranquil Yu Garden, impressive monuments to China's history and style. Inland lies Suzhou, with its majestic Grand Canal and classical gardens, as well as equally significant Hangzhou, terminus of the Grand Canal and the center of China's legendary tea industry.

Kagoshima lies cradled within the protective arms of a large inlet on the island's extreme southern tip. It is Japan's southernmost city and combines slow-paced charm with thriving commercial activity. World-renowned Mount Sukurajima stands less than three miles away. This rare example of a busy metropolitan area coexisting with a volcano has led to comparisons between Kagoshima and the Italian city of Naples. Stroll picture-perfect Japanese gardens, explore an abundance of historical sites or shop for traditional pottery.

Views of the sea, high-rises, parks and temples, Kochi has it all. The town is particulary famous for its famous dish, katsuo tataki, a culinary delight of flavorfully seasoned, seared tuna, which draws food fans from all over the world. Once you have had your fill of the delicious local dish, any cravings you have for a taste of Japanese culture are sure to be satisfied during your visit. Meander through the Makino Botanical Garden, explore the Museum of Art, stroll along the nearby beach, barter at the Obiyamachi shopping arcade, visit the aquarium, or simply gaze at the city's most celebrated sight, Kochi Castle. Which remains largely intact atop Otakasaka Hill, and at the top of most traveler's must-see lists.