Dalmatia by car: national parks, imperial cities and coastline

This is where your journey begins. You set off early to comfortably split up the long first stage via Munich and the Tauern.

Your first overnight stop is near the turquoise Lake Faak, a good stopover before continuing on to Croatia. In the evening it's worth taking a walk along the shore with views of the Karawanken mountains. A quiet location away from the motorway.

Booking ahead is often cheaper here

Your base for two nights right at Plitvice Lakes National Park, so you can be at the entrance early in the morning without a long drive. The villages of Mukinje and Jezerce offer family-run apartments with kitchens. It's quiet and cool up here in the evenings.

Booking ahead is often cheaper here

Sixteen turquoise-green lakes, linked by waterfalls and wooden boardwalks, form part of the UNESCO World Heritage. The circular routes can be combined with electric boats and a panoramic train; the great waterfall Veliki Slap is the best-known spot. It's worth arriving at the entrance early to avoid the crowds on the boardwalks.

Booking ahead is often cheaper here

Two nights on the historic peninsula, so you can reach the sights and the waterfront promenade on foot. Apartments in the narrow lanes of the old town usually don't come with their own parking; use one of the guarded car parks on the edge of the peninsula. In the evening, the Riva becomes the centre of life.

Booking ahead is often cheaper here

The Sea Organ lets the waves produce surprisingly melodic tones through steps and pipes built into the quay, while right next to it the solar light circle Pozdrav Suncu lights up as darkness falls. It's at its best at sunset, which Alfred Hitchcock is said to have called one of the most beautiful in the world. A relaxed start to the evening on the waterfront promenade.

The ancient Roman forum, together with the 9th-century circular Church of St Donatus, forms the historic heart of Zadar. The massive pre-Romanesque rotunda is acoustically impressive and hosts concerts in summer. Remains of Roman columns lie scattered in the grass all around, free to touch.

The Museum of Ancient Glass displays hundreds of Roman glass vessels, perfume bottles and jewellery, many from the region's necropolises. During demonstrations, glass is blown using ancient techniques. A quiet, air-conditioned option for the midday heat.

The deeply cut Velika Paklenica gorge in the Velebit mountains is a paradise for walkers and climbers, with vertical limestone walls and a well-marked valley path. A family-friendly circular route leads up to the Lugarnica mountain hut; along the way lies an old bunker carved into the rock, which can be visited. The contrast between the bare peaks and the shaded stream valley is striking.

The wide Skradinski buk waterfall tumbles down in several cascades over travertine steps and is surrounded by wooden boardwalks. The most attractive way to arrive is by national park boat from the town of Skradin, which travels through the green river landscape. By September, swimming in the river is generally no longer allowed, but the boardwalks are pleasantly uncrowded.

Booking ahead is often cheaper here

Two nights in the steep, medieval old town built of pale stone. The apartments in the lanes are often only reachable on foot via steps; park at one of the car parks by the harbour below. In the evening it's worth climbing up to the fortress for views over the rooftops.

Booking ahead is often cheaper here

The Cathedral of St James is built entirely from stone, without mortar or wood, and is part of the UNESCO World Heritage. Famous for its frieze of over seventy realistic stone heads on the outer wall, and for its bold, scale-shaped dome by master builder Juraj Dalmatinac. A masterpiece of the transition from Gothic to Renaissance.

St Michael's Fortress towers above the old town and offers a sweeping view over the Šibenik channel and the offshore islands. Inside, a modern open-air stage has been created, hosting concerts in summer. The climb up through the lanes is an experience in itself.

The small old town of Primošten sits picturesquely on a peninsula and was once a genuine island. Narrow lanes lead uphill to the parish church, with panoramic views over the deep blue sea and the surrounding vineyards. A perfect stopover with swimming spots at the nearby pebble coves.

Three nights in the heart of Split, so you can take your time with the old town and excursions to the surrounding area. Apartments within the palace walls are full of atmosphere but have no parking of their own; use one of the car parks or parking areas on the edge of the old town. In the evening, the palace becomes a lively backdrop.

Booking ahead is often cheaper here

Diocletian's Palace, dating from the 4th century, isn't a museum but a lived-in old town with shops, cafés and flats set between ancient walls. Highlights include the Peristyle, the underground cellar halls and the Cathedral of St Domnius in the emperor's former mausoleum. Climbing the bell tower rewards you with a panoramic view over the city.

The wooded hill of Marjan lies directly west of the old town and, with its walking trails and viewpoints, is Split's green lung. From the Vidilica café or the hilltop chapel you get sweeping views over the palace and the islands. A lovely change of pace after the bustle of the lanes.

The entire old town of Trogir sits on a small island and is part of the UNESCO World Heritage, a tightly packed ensemble of Romanesque and Renaissance architecture. Its centrepiece is St Lawrence's Cathedral with its intricately carved Radovan Portal; from the tower you get views over the rooftops and canals. Kamerlengo Fortress by the water rounds off the walk.

A quiet seaside resort northwest of Šibenik makes for a relaxed stopover on the way back. The long waterfront promenades and pebble coves are perfect for swimming and strolling. After the intensive days of cities and nature, you can treat yourself to a peaceful afternoon here.

Booking ahead is often cheaper here

An overnight stop at the famous Lake Bled to break up the long return drive. In the evening it's worth taking a walk around the shore with views of the island church and the castle on the cliff. A lovely, peaceful conclusion to the trip before the final stage.

Booking ahead is often cheaper here

Bled Castle towers high above the lake and is one of the oldest castles in Slovenia. From the terrace you get the classic postcard view over the lake, the island and the Alps. A short detour that's well worth it before the long drive home.

Arrival in Stuttgart in the evening. This is where your Dalmatia trip comes to an end.