Two of southern Germany's most charming communities offer a look at the country's medieval charm. This tour shows you the romantic city of Heidelberg and the historic community of Rothenburg ob der Tauber, where you can get a look back at the heyday of the Holy Roman Empire.

Your journey begins with a morning tour to Heidelberg, regarded as one of the most beautiful cities in Germany. Tour the famous Heidelberg Castle for a look at the long courtyard, the mighty terrace, and one of the largest wine barrels in the world, and then take a walk in the city's medieval center to marvel at the Old Bridge, Karl's Gate, the Church of the Holy Spirit, and the House of the Knights, as well as the oldest university in Germany.

Next, follow the Romantic Road into the uplands of Bavaria for a visit to Rothenburg ob der Tauber, the best-preserved medieval town in Germany. High above the Tauber River Valley, the picturesque old lanes and the castle gardens give you a look at the elegance of another era. See the wood-carved alter of St. Jakobs Church and marvel at half-timbered houses, the city gates, and the mighty Renaissance Town Hall.

In the afternoon, take some leisure time to enjoy lunch and explore the town on your own. Look for the local delicacy called a Schneeball, a fried dough ball with many different toppings, before you start your journey back to Frankfurt.