Amsterdam is defined by its canals. Built 400 years ago in concentric horseshoes, they are the rib cage of the city. Coasting their waters on a canal boat opens windows onto a history of vast wealth and global power. The cobbled streets alongside the canals are scenic urban pathways for walking or biking. And they are anchors for funky shops, cafes and - of course - Amsterdam's flamboyant Red Light district and marijuana bars.

The inner city of the Dutch capital is a compact warren of heritage buildings, of museums both grand and odd, of hidden gardens and outdoor markets - all within easy reach by any mode of transport except the unwelcome car.