Explore the imperial heritage of three of central Europe’s finest capitals, uncovering a blend of historic and modern in Czechia, Austria and Hungary

Your exploration of three incredible cities begins as you meet the Tour Manager at London Heathrow, ready to fly to Prague. You can also opt to fly from your regional airport and meet the Tour Manager in Czechia.

On arrival in the Czech capital, we check in to our four-star hotel located in the 'diplomatic district' near Prague Castle. This well-appointed hotel has three restaurants, a café, a flower shop and a wellness centre. There is time to unwind or head out on your own to gain your first glimpse of Prague's charms. With a tram and metro stop near our hotel, you may like to purchase a Prague Visitor Pass which gives you unlimited travel on public transport and allows you entry into most of the city's attractions. Prague's Old Town is a beautiful place to stroll around with fairytale medieval buildings, quirky statues and an incredible range of museums.

This evening, we gather at the hotel for our first dinner together.

After breakfast this morning, we get to see many cultural and architectural highlights of Prague on a guided tour of the 'City of a Hundred Spires'.

As the largest medieval complex in Europe, Prague Castle bursts with history dating from the 9th century. The huge St Vitus Cathedral dominates the area, while the nearby St George's Basilica reputedly dates from 920 AD. At the north-eastern edge of the complex is the charmingly quaint Golden Lane, lined with diminutive and colourful medieval houses. Crossing the iconic Charles Bridge, we reach the Old Town Square, the focal point of Prague life since the 12th century. One of the most fascinating features of the square is the renowned astronomical clock. Installed in 1410, it's one of the oldest working pieces of its type.

You have the afternoon at leisure, and you could visit the Czech Beer Museum, the Museum of Fantastic Illusions or Speculum Alchemiae, set in an old alchemist's workshop. Dining independently tonight gives you the opportunity to taste some hearty and delicious Czech food and a glass of frothy beer.

Enjoy a day at leisure to uncover more wonders of the Czech capital. Prague offers a wide array of attractions and a relaxing way to get your bearings is during a gentle cruise on the Vltava.

Prague excels in the quirky and this is reflected in the works of one of its favourite sons, writer Franz Kafka. There are various statues of Kafka in Prague, including a rotating, kinetic representation of his head, and another near the Spanish Synagogue - appropriately named due to its exterior evoking Andalucía's Alhambra. Inside, the ornate decorations are influenced by Moorish design. This is just one of the beautiful locations in Josefov, Prague's thought-provoking Jewish Quarter. On a stroll round here, you can uncover many buildings that have their own stories to tell, including the Old New Synagogue, which is the oldest active synagogue in Europe.

After sightseeing, you can relax at one of the city's gourmet restaurants, cocktail bars or cafés. If you're looking for something more authentic, try pork and dumplings.

Leaving Prague by train after breakfast, we journey into neighbouring Austria. Passing sweeping fields, sleepy towns and verdant forests, we arrive in Vienna in the early afternoon.

With its artistic heritage, imperial architecture and enticing culture, Vienna is one of Europe's great capitals. On arrival, we're introduced to this grand city on a guided tour. The famous Ringstrasse is an impressive boulevard encircling the Old City. Numerous grand buildings line this road, including the Vienna State Opera and the Austrian Parliament. The centrepiece of the Ringstrasse is the Hofburg Palace, from where the Habsburgs ruled over large parts of central and eastern Europe between 1273 and 1918. Expanded over the centuries by various emperors, the fascinating Hofburg showcases preeminent examples of Gothic, Baroque and Renaissance architecture.

We also stroll amongst the cobbled streets and narrow houses of Vienna's historic centre, a UNESCO World Heritage site, before checking in to our hotel ahead of dinner at a traditional Austrian restaurant.

There's a full free day to explore Vienna at your own pace - and there are many great sights to uncover. The sprawling Schönbrunn Palace overlooks extensive decorative gardens, at the end of which is an 18th-century gloriette. You can pay to tour the palace or visit the world's oldest zoo, founded by Emperor Franz I in 1752.

In the entrance to the Hofburg Palace, you will find the Spanish Riding School, home to the incredible Lipizzan dancing horses - although pre-booking is required for performances. Vienna's towering St Stephen's Cathedral is in Stephansplatz, the beating heart of the city, and provides great views from the top. The large green space of Prater gardens contains a famous funfair and an iconic Ferris wheel.

Take time to enjoy a typical Viennese coffeehouse experience, savouring a range of coffees along with an enticing selection of pastries and cakes, including the famous Sachertorte. This evening, you dine independently and may wish to try a Wiener schnitzel with a beer or a glass of chilled Grüner Veltliner wine.

With a free morning in Vienna, you could visit Belvedere - a complex of two Baroque palaces and an art gallery containing Gustav Klimt's The Kiss.

In the early afternoon, we leave Austria by train bound for Hungary. Budapest was formed when three cities merged. The flatter, lively Pest on the eastern bank of the Danube looks out across the water to the historical and hilly Buda, while the quieter Óbuda sits to the north. Arriving in the early evening, we check in to our Buda hotel. There is some free time to relax before you are taken to Óbuda for dinner in a traditional restaurant that, combined with its serene surroundings, gives the feeling of being in a Hungarian village.

After dinner, we embark on a highlight of the holiday - sailing down the Danube on an evening cruise. This is one of the best ways to see the beautiful city as the impressive buildings lining the river such as the Parliament building, Buda Castle and the Chain Bridge are illuminated, casting a magical glow across the Danube.

A guided tour after breakfast reveals the very best sights of Budapest. We view impressive buildings and monuments on both sides of the Danube, including the iconic Parliament building and Castle Hill. Rising high over the Danube, this district contains many of the city's most important and historic sites, including the Baroque castle, Gothic Matthias Church and the swirling towers of Fisherman's Bastion.

You are free for the rest of the day to make your own discoveries in Budapest. The city is renowned for its thermal and medicinal spas. On the Pest side, you could visit the Széchenyi Baths, the largest medicinal bath in Europe, located near Heroes' Square in the City Park. In Buda, the Art Deco Gellért Baths are located near to the banks of the Danube. Or perhaps treat yourself to some cake and coffee at Café New York, widely regarded as one of the most beautiful coffee houses in the world.

Dining independently tonight, you can opt to sample Budapest's impressive range of cuisine, including the Hungarian specialities of goulash or paprika chicken.

Connected by a shared history as parts of the Habsburg empire, the three cities we have explored also reflect their individuality in their architecture and culture. Prague showcased its charm through its quaint buildings, Vienna's Ringstrasse demonstrated its imperial grandeur, while Budapest's swirling towers and piercing turrets looked resplendent during an illuminated Danube cruise.

Having explored the capital cities of Czechia, Austria and Hungary with a combination of expertly guided tours and free time, we make our way to Budapest airport for our flights home. Landing back in the UK later today, your imperial adventure comes to a conclusion.

Our Discoveries range offers everything you need at a great price so you can travel with confidence. It provides comfortable, locally run accommodation*, standard rail or economy flights and expert-led group tours. You'll be in groups with an average of 30-35 travellers and a maximum of 40. *where available

On this tour, you will travel between destinations on regional rail services. More information about the type and class of travel can be found in the 'What's Included' section and in the itinerary. Please call for more information.

This 4-Star hotel overlooks a verdant park and Buda's Castle Hill and has been recently renovated with a design inspired by the colourful and lively streets of Budapest. There are two restaurants in the hotel, as well as a relaxing bar and an on-site shop. Air-conditioned guest rooms are all equipped with free Wi-Fi, flatscreen TV, telephone, desk, kettle and tea and coffee-making facilities.

Combining Art Deco touches with modern style, this 4-Star hotel is near an underground station providing easy access to the city centre. There are three restaurants onsite as well as a café serving coffee, cakes and light snacks. The hotel also includes a flower shop, souvenir shop and a Wellness Club with a Finnish sauna, steam bath, whirlpool, fitness centre. Air-conditioned guest rooms are equipped with free Wi-Fi, flatscreen TV, minibar, kettle and hairdryer.

A short distance from the Längenfeldgasse U-Bahn, this 3-Star hotel has great transport connections to the city centre. Modern and comfortable, the hotel's facilities include a fitness centre and a small shop, while breakfast options are served each morning. Air-conditioned guest rooms are equipped with free Wi-Fi, safety deposit box, ironing equipment, tea & coffee-making facilities, hairdryer and complimentary toiletries.