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Walking the streets of a new city can be therapeutic. As well as recharging your batteries, it's a great way to get in touch with different people and cultures.

Some of the biggest attractions in a city are very spread out from one other, and you have to resort to taking taxis or figuring out the metro system to get around. On the other hand, there are cities which, despite their size, have lots of attractions located close together, so you can travel by foot and make the most of the day.

Take a look at the following gallery to find out which cities are best to explore on foot!

▲More and more tourists are choosing to visit Florence. Even if it's just for a day, it's worth visiting this city as it is comparable to an open air museum, and is perfect to discover on foot.

▲Our special tip is to visit the Boboli Gardens, Florence's most famous park, and the perfect spot for a relaxing stroll.

▲Rome is a great city to see on foot. In the center of the city you can see the Colosseum and then take a short stroll to the Roman Forum.

▲After leaving the Forum, head up the road and you will find the Altare della Patria (Altar of the Fatherland), a monument dedicated to Vittorio Emanuele II, the first king of unified Italy.

▲Dubrovnik's old town has held onto its medieval architecture and walls. The main street is Stradun, one of the most charming streets you will ever see, and it leads to various important parts of Dubrovnik.

▲One of the most popular meeting points in the city is Luza Square, at the eastern end of Stradun. Go for a stroll here and take it all in.

▲Paris being one of the world's most charming cities won't be news to anyone. Walking along the River Seine up to the Eiffel Tower is a must.

▲Outside the city is the historic Palace of Versailles. You will need to take a bus there, but a walk around the beautiful palace gardens is something you won't forget.

▲Spain has lots of incredible cities to visit and Barcelona is right up there. The famous Las Ramblas connects the city and is a great place for a stroll.

▲Walking Las Ramblas, you will eventually arrive at the beach, one of the city's most postcard-worthy sights.

▲Lisbon is a very popular city, not just for tourists but for people looking to live there as well. In the center you can visit Baixa Chiado and walk down through Rossio to the downtown section before arriving at the main square, Praça do Comércio, where there are stunning views of the Tagus River.

▲In Belém, you can visit the Padrão dos Descobrimentos (Monument to the Discoveries), Jerónimos Monastery, and the Tower of Belém, all within walking distance of one another.

▲This Colombian city includes both a modern and old section, the latter of which is surrounded by walls. You may recognize the streets full of charming colorful houses—a great area for stroll.

▲Leaving the old town and heading to the modern part of town, you can visit the San Felipe de Barajas castle, an imposing fortress built by the Spanish.

▲Cusco may not be the capital city but it is without doubt one of the most important when it comes to Incan culture and tradition. The center of Cusco, especially the Plaza de Armas is perfect to explore on foot.

▲Nearby is Coricancha, an important structure combining Incan and Christian culture. It is home to the Temple of the Sun and the Santo Domingo Convent.

▲Lots of tourists head to the world famous Times Square thoroughfare.

▲Head to Central Park for a longer stroll, and get in touch with nature in the center of one of the busiest cities in the world!

▲The Irish capital is known for its unpredictable weather and selection of pubs. Dublin is also a flat city and very accessible by foot. Taking a stroll along the River Liffey, which divides the city in two, is definitely recommended.

▲If you're nearby, see if you can find St. Patrick's Cathedral, dedicated to Ireland's patron saint.

▲The capital of the Netherlands, Amsterdam is perfect to explore on foot, especially along the canals at Grachtengordel.

▲Must-visits include Anne Frank's house and the Holocaust Museum.

▲In this Moroccan city, it's impossible not to love the Medina of Marrakesh, the center of the city.

▲Another not-to-be-missed spot is the Jemaa el-Fnaa square, with its bustling businesses, music, and snake charmers.

▲This Thai city is perfect to explore on foot and is very popular among visitors.

▲You will no doubt come across the marvelous Wat Chedi Luang, a Buddhist temple and one of the city's main attractions.

▲South America's most "European" city, Buenos Aires is a great place to wander about and explore. The Plaza de Mayo is a good place to start.

▲Nearby is the charming Puerto Madero neighborhood, which is home to the famous Puente de La Mujer bridge, designed by Spanish architect Santiago Calatrava. It is definitely worth seeing!

▲Visiting Rothenburg is like taking a trip in a time machine back to the Middle Ages. There's nothing better than walking through the charming fairy tale streets!

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All roads lead to the Marktplatz, the main square where visitors and locals meet up. In addition to the old architecture, the colors of the buildings really draw the eye.