This article is the second of a two-part series on driving in a foreign country.

The white hill towns—pueblos blancos—in the Andalusia region of southern Spain gracefully sprout from the surrounding terrain.

Strategically carved into hills and mountains and once used as positions of fortification for whichever side—Christians or Moors—was in control of the area, the villages, with their whitewashed walls and roofs tiled a reddish-brown, now summon travelers.

Because the villages are miles away from the larger cities, tours don’t frequently travel to them. You have to drive. But you get to see much more of a country when you transport yourself. There’s no departure schedule and no tour guide herding you on and off buses. Sure, gas station attendants might look at you curiously, but the country will dictate where you need to be. My travel partner and I spent time in more than 20 cities. Here are my 10 favorite.

  1. MADRID

My first and only group tour in Spain was led through stifling streets by a swashbuckling tour guide, who frequently stabbed with his hand as if he held a sword. The history of the Spanish monarchy—invasions, uprisings, liberations, artistic responses, kingdom-unifying nuptials, incestuous lineage—was messy. I skipped the second part of the tour so I could wander through Buen Retiro Park. It is filled with sculptures, monuments and avenues of trees. The plentiful shade is where locals go to escape the heat, because it is too hot to stay indoors.

My only private tour in Spain was led by a historian who took us through the Palacio Real de Madrid, the official residence of the Spanish royal family that is only used for state ceremonies. The painted ceilings, decorative rugs, tapestries and furniture were intricately detailed. Especially riveting was the display of royal armory that dates back to the 13th century and the collection of priceless Stradivarius violins, violas and cellos. We also toured the Prado Museum, where I spent an hour in front of “Untitled (Green on Maroon),” Mark Rothko’s shadowy, floating rectangular fields.

Madrid was my favorite city. We had planned to stay for only three nights, but we decided to stay a fourth when we nabbed tickets to see electronic DJ Nicolas Jaar at Mondo. The decision allowed us to go to the Renia Sofia.

  1. TOLEDO

We were there for the Corpus Christi festival, which is held the ninth week after Easter. The streets were congested with people seeking a glimpse of the Custodia de Enrique de Arfe, an early 16th century work of art made from gold, silver, pearls and other precious gems that is paraded through the streets from the Primate Cathedral of Saint Mary of Toledo. Toledo comprises a labyrinth of narrow streets that climb, dip and turn, making it easy to lose bearings—and easy to find adventure.

  1. CONSUEGRA

If you’re over 30, you probably had to read “Don Quixote de La Mancha” in high school. The windmills of La Mancha were captivatingly described by the author, Miguel de Cervantes, even if he was making fun of the region. The wind zipped through our clothes as we stood atop the hills overlooking plains.

  1. CORDOBA

We arrived as many restaurants were closing down, but Casa Pepe de la Juderia willingly seated us and served what was left in the kitchen, including ox tails that rivaled my grandmother’s. We were in town for the Cordoba Synagogue. The small building’s stuccoed panels, geometric patterns and Hebrew inscriptions survived the expulsion of Jews in 1492.

  1. RONDA

We didn’t want to just drive over Puente Nuevo, one of the bridges that run across the 100-yard-deep El Tajo gorge. We wanted to hike down to shoot photographs from inside the valley. It took a few hours, time we wouldn’t have had without our own wheels.

  1. SEVILLE

The Alcazar of Seville is a royal compound first constructed in the 14th century by Moorish kings. The detail is immediately recognized as deriving from Mudejar architecture, including elaborate and colorful tile patterns, brickwork and arabesque ornamentation. After the Christians recaptured Spain, subsequent additions incorporated designs from both faiths. The Jardines de Alcazar are perfect for ponderous walks. The Metropol Parasol, a honeycomb connection of wooden beams hovering in the city center, is how public art should function.

  1. VALENCIA

In most restaurants, you can order one of Spain’s staples: jamon, patas fritas or paella. We waited until arriving here to try the last, because Spaniards consider paella to be a Valencian dish. Paella de Valencia, which includes rabbit, chicken, rice and beans, was the most satisfying meal I had in the country. We drank Agua de Valencia, a potent and delicious mix of cava, vodka, gin and orange juice. Before driving to the next city, I had to nap in the car as a thunderstorm swept past.

  1. BILBAO

You haven’t had tapas, or pinxtos as they’re known in Basque Country, until you’ve gone on a tour with a local in this city known for its temperamental summer weather. The saying goes, “If you don’t like the weather, wait five minutes.” So when a sideways downpour began, we didn’t give up our umbrella table on the Guggenheim Museum Bilbao plaza. The Guggenheim is where I (maybe) began to properly contemplate Richard Serra’s spherical, vertigo-inducing sheet metal installations.

  1. SAN SEBASTIAN

Rain pelted, which meant no beach time. Fine by me, because we ate at Akelare, my first Michelin three-star restaurant. The senses-teasing meal was worth the 370 euros.

  1. BARCELONA

We had to see La Sagrada Familia, a church designed by Antoni Gaudi that has been under construction for more than a century. We took a day trip to Figueres, approximate a 90-minute drive, to the Teatro Museo Dali. Major works are housed there, but most fascinating were Dali’s sketches.

Otis R. Taylor Jr. is a culture writer with a battle rap obsession. He is based in Oakland, Calif., and is the managing editor of ripple.co.