Utrecht caters to residents more than visitors - good news for those seeking a more authentic Dutch experience. The city centre is packed with medieval architecture, the museums are second-to-none, and there are plenty of canal-side cafes to sip a beerje with the locals.

Take an Utrecht private tour and explore the 'heart of Holland' with a local guide.

Unlike Rotterdam, flattened during WWII, Utrecht's historic buildings stand tall. It's easy to spot the 112-metre Dom tower, but there are 465 steps to the top, so be prepared for a workout. Or stay below sea level and let your guide show you rare Christian artifacts at the Catharijnconvent. Don't forget to hop over to dijk bruna huis, housing the famed cartoon rabbit Miffy.

Straddling the Rhine river, Utrecht created a complex canal system served by multi-level docks and wharves, most now converted to waterside restaurants. The most popular line the Oudegracht canal - ask your guide for recommendations.

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