It seems like most folks have a grandmother, great-uncle or some other distant relative that used to live in Brooklyn, or perhaps a friend that lives there now. In the early 1900s, it was a mecca for immigrants arriving via Ellis Island. A hundred years later, young professionals and artists left pricey Manhattan digs for Brooklyn's cheaper and more expansive space. Neighbourhoods like Brooklyn Heights and Park Slope, which had fallen into disrepair over the years, were restored and reborn as funky enclaves. Walk or bike over the historic Brooklyn Bridge (or ride the subway) to Brooklyn Heights for a stroll along the Promenade and breathtaking views of the Manhattan skyline. Meander through Prospect Park and the Brooklyn Botanical Gardens for a taste of nature in the urban wilds. Catch a performance at the world-famous Brooklyn Academy of Music. From the delicious Italian restaurants of Bensonhurst to the Irish bars that line the avenues of Bay Ridge, from the hotdogs and rollercoasters of Coney Island to the bagels and handball courts of Greenpoint, Brooklyn is a state of mind as well as a dynamic community. Discover why, no matter where people move on to, they remain Brooklynites at heart.

Queens is the most ethnically diverse area of its size on Earth, which means there's a little something for everyone. Chow down on Indian food, sit in on a traditional Irish pub music session, and dance the night away at a Puerto Rican nightclub, all of it located within a few subway stops. Queens is also the home of the Mets and the US Tennis Open, and the former home of the New York World's Fair, now Flushing Meadow-Corona Park, and Paramount Pictures, now the Museum of the Moving Image.

Known as New York's tough neighbour with a major international airport, Newark is a destination in its own right. The city is undergoing revitalisation efforts and its attractions include several large parks, art galleries and architecturally significant buildings. The Newark Museum is a complex of art and science exhibits, a mini-zoo, a planetarium and more. Theatre, music and dance performances take place at venues such as the New Jersey Performing Arts Center and Newark Symphony Hall.

Famous as the home of Yankee Stadium, elevated trains, and dense apartment blocks, the Bronx is also the greenest of New York City's boroughs. Visit the gorillas at the famous Bronx Zoo or wander through the 50-acre forest at the New York Botanical Garden. Pick up some gourmet foods on Arthur Avenue, the Bronx's Little Italy, and have a picnic at Van Cortlandt Park, which features two square miles of boating, horseback riding, tennis, and the oldest public golf course in the United States.

The home to Yale University since 1701, the city of New Haven is packed with an unrivaled collection of arts and antiquities, with collections ranging from natural history specimens to antique musical instruments. The towering translucent marble cube of the Beinecke Library contains 600,000 rare volumes, including one of the only surviving Gutenberg Bibles. The Yale University Art Gallery is as famous for its collection as it is for its building, a Modernist masterpiece designed by Louis Kahn.

"The City of Tribes" provides a fun blast of the Ireland many first-time visitors expect. The compact city centre, with its winding streets, packed pubs and air of celebration, is easily walked - or pubcrawled. The west-coast city of almost 70,000 is home to merry bands of students, artists, writers and craftspeople, and is merriest during summer's Galway's Arts Festival. Don't miss shopping for Claddagh rings, the Druid Theatre or having a pint o' the black stuff at the atmospheric Tigh Neachtain pub.

You've probably heard that Guinness tastes better in Dublin (fresh from the factory), but what you may not know is that Dublin is a perfect destination for the whole family. No, we're not suggesting you let the kiddies drink a pint. Instead, take them to the Dublin Zoo, to feed the ducks in Stephen's Green or on a picnic in Phoenix Park. Scholars enjoy walking in the literary footsteps of such writers as Yeats and Joyce, while discerning shoppers have their pick of designer boutiques.

Belfast has grown into a cosmopolitan city and become a popular weekend-break destination. The city pulses with an irrepressible optimism and energy. The Northern Ireland capital has an increasing number of intriguing bus, taxi, boat and pedestrian tours. Attractions such as Ulster Folk Museum and Belfast Cathedral, award-winning restaurants, lively bars from modern lounges to traditional pubs, hip clubs, great shopping, impressive theatres, galleries and live music make it a vivacious destination.

Strongly influenced by the tribal culture of the Guanches (the original inhabitants), Tenerife was conquered by the Spanish 500 years ago. It's home to Mount Teide, Spain's tallest peak, and to the popular beach resort of Los Gigantes. Today visitors flock to Loro Park to see tropical birds, to Tenerife Zoo Monkey Park and to Parque Nacional Las Canadas del Teide's volcanic rock formations. Explore by car or with a "bono bus" ticket, which offers reductions on regular prices.

Lisbon, the capital city of Portugal, has become an increasingly popular place to visit in recent years, with a warm Mediterranean climate in spite of its place facing the Atlantic Ocean. Full of bleached white limestone buildings and intimate alleyways, Lisbon's mix of traditional architecture and contemporary culture makes it the perfect place for a family holiday. Things to do in Lisbon: As Portugal's capital, there is a lot to see and do in Lisbon. Even exploring the city centre will take a few days out of a family holiday as there is no real central district, although Praça do Comércio is a good central place to start, in Baxia, or Rossio, the city's main square which has a sort of Trafalgar Square feel to it. Or you might try climbing up the Cristo Rei, a huge statue of Christ with spectacular views across the whole city. The Castelo de São Jorge also offers great views and isn't quite such a steep climb. A short tram ride to the west of Lisbon will also bring you to Belem, where you can explore attractions like the Belem Tower and the Belem Cultural Centre, which features a fantastic art collection including works by Dali, Picasso, Warhol and Magritte. In downtown Lisbon, you'll also want to visit the Gulbenkian, which has to be Portugal's answer to the British Museum full of fascinating cultural artifacts and with some superb gardens in the grounds. It's possible to have a fascinating educational family holiday in Lisbon, and there are also plenty of great beaches to work on your tan.

From Shoreditch’s swaggering style to Camden’s punky vibe and chic Portobello Road, London is many worlds in one. The city’s energy means that no two days are the same. Explore royal or historic sites, tick off landmarks from your bucket list, eat and drink in exclusive Michelin-starred restaurants, enjoy a pint in a traditional pub, or get lost down winding cobbled streets and see what you stumble across – when it comes to London, the possibilities are endless.

Originally founded as a Roman city and now home to three UNESCO World Heritage Sites, Seville is bursting with antique charm. The Alcazar palace complex is a stunning collage of architectural styles, and the Cathedral will impress you with its beauty and its status as the burial site of Christopher Columbus. The Metropol Parasol is the world’s largest wooden structure, a massive mix of grids and swirls that contains a market and a terrace observatory.

Malaga, Pablo Picasso's birthplace and the gateway to the Costa del Sol, is a hectic, sometimes unruly city of 550,000. An impressive number of museums and monuments, including the 11th-century Alcazaba fort and Museu Picasso Malaga, provide plenty of diversions for those who opt not to spend all their time on the coast's famed beaches and in their accompanying bars. The old city bustles with taverns and bistros. The generous Paseo del Parque offers a delightful stroll past banana trees and fountains.

Everyone who visits Paris for the first time probably has the same punchlist of major attractions to hit: The Louvre, Notre Dame, The Eiffel Tower, etc. Just make sure you leave some time to wander the city’s grand boulevards and eat in as many cafes, bistros and brasseries as possible. And don’t forget the shopping—whether your tastes run to Louis Vuitton or Les Puces (the flea market), you can find it here.

Amsterdam is truly a biker’s city, although pedaling along the labyrinthine streets can get a little chaotic. Stick to walking and you won’t be disappointed. The gentle canals make a perfect backdrop for exploring the Jordaan and Rembrandtplein square. Pop into the Red Light District if you must—if only so you can say you’ve been there. The Anne Frank House is one of the most moving experiences a traveller can have, and the Van Gogh Museum boasts a sensational collection of works.