Meet up with your guide in the Piazza San Marco and kick off your excursion into Venice's past on foot, strolling through narrow alleys, crossing canals on centuries-old bridges, and soaking up all the magical atmosphere of this enchanting floating city. Listen as your guide recounts entertaining tales and historical happenings, walk through the bustling marketplace of the Mercerie, see the house where explorer Marco Polo lived, and pass by the impressive exterior of the Scuola Grande di San Rocco.

Wind your way back to the Piazza San Marco and toward the pink marble and white stone facade of the Doge's Palace. Bypass the line and head inside to see the wealth of Venice's past rulers on extravagant display, climbing the gilded staircase to see the sumptuous decor in the Doge's apartments and admire paintings by Venetian masters like Titian, Tintoretto, and Veronese. Cross the Bridge of Sighs to visit the prisons, and hear about Casanova's famous escape.

Next, go across the plaza and head in the direction of the Byzantine domes and soaring spires of Saint Mark's Basilica, the massive cathedral of Venice. Walk inside and take in the shimmering grandeur of the interior, with its gilded domes and gold mosaics.