Belgium's well-preserved cities are easy to navigate and most rewarding to explore on foot, by bicycle or boat. Antwerp is home to amazing museums, unique architecture, a buzzing restaurant scene and is the historic centre of the diamond trade. Bruges, oozing with charm, was one of the richest cities of medieval Europe, feels like an open-air museum and is often called the Venice of the North. The university town of Ghent also retains medieval architecture at its heart, has picturesque views and a very relaxed vibe. Brussels, the capital has something of everything that makes Belgium lovely: good beer, good food, great waffles and chocolate, fine art, majestic architecture, and that tiddliest of attractions the Manneken Pis!