The coastal port and gateway to Australia's Northern Territory, Darwin is best known for its parks and gardens. Learn to identify regional flora, tropical plants and orchids at the George Brown Darwin Botanic Gardens. Discover Aboriginal Art at the Museum and Art Gallery of the Northern Territory, or take a stroll through Old Darwin, past buildings that chart the city’s history from the days when Charles Darwin’s HMS Beagle first visited Darwin harbor in 1839.

Days at sea are the perfect chance to relax, unwind and do whatever takes your fancy. So whether that is going to the gym, visiting the spa, trying to spot a whale from the deck, reading a chapter or two, or simply topping up your tan, these blue sea days are the perfect balance to the green days spent exploring on land.

The ‘Aussie Outback’ at its finest, Wyndham is one of Australia’s most remote outback towns and the most northerly in the Kimberley. Given their rugged existence, the small population of locals is considered ‘colorful.’ Huge saltwater crocodiles laze on the mudflats as the tide goes out, and you often see endangered, rainbow-colored Gouldian finches around town. Visit the ‘big crocodile’ statue, the Bastion viewpoint overlooking five rivers flowing into the Gulf, or head out to the unusual rock form Bungle Bungles.

Heading along the King George River towards King George Falls is one of the highlights of the Kimberley cruise. The river weaves past mangrove forests and towering sandstone cliffs that become more spectacular the further you go. Watch for crocodiles basking, or spot elusive birds such as Eastern ospreys, oystercatchers, peregrine falcons and terns. Near the falls, the zodiacs try to make land and keen hikers can climb to the top for panoramic views back down river.

One of the most scenic sections of the Kimberley coast, the Hunter River flows into Prince Frederick Harbour. The backdrop of orange-brown sandstone cliffs and scraggy eucalypt savannah makes this a stunning wilderness experience. Take the zodiac along Porosus Creek watching out for salt-water crocodiles that give their name to these waters. Or head north to the mighty four-tiered Mitchell Falls on the chopper. Sit back on deck to watch the magnificent Kimberley sunrise or sunset.

The main attraction on Bigge Island is the ancient aboriginal art on the cliffs and in caves around Wary Bay depicting Wandjina figures, symbols of fertility and rain. An easy coastal walk on sand trails and through mangroves gets us to these painted images with their large, round eyes and halos around their heads. As you land on the beach, you might see the tracks of sea turtles who come to lay eggs in the low sand dunes.

Ashmore Reef Marine Park is a protected aquatic sanctuary in the uninhabited, Australian External Territory of Ashmore and Cartier Islands of Australia some 630 km north of Broome. With the greatest number of species of reef coral in Western Australia, the intact Ashmore Reef is the ideal haven for you to take out the Zodiacs to snorkel, swim and spot 100,000 breeding seabirds, turtles and the unusual dugongs among the brightly colored corals, sponges and seagrass.

The dazzling turquoise-colored Montgomery Reef is part of Camden Sound Marine Park. At low tide, the zodiacs navigate deep channels to witness gushing waterfalls, while egrets and other birds search for exposed shellfish. Accessible by boat, Freshwater Cove, also known as Wiggingarra Butt Butt, lies on the mainland next to Montgomery Reef. Members of the Worrorra tribe often greet visitors who land on this white sandy beach with a welcome ceremony, smudging ochre on each person’s cheek. From the beach, a 40-minute uphill walk over rocky terrain takes you to a Wandjina aboriginal rock art gallery where locals sell their work.

One of the great wonders of the natural world, the Horizontal Waterfalls are a phenomenon created by massive tidal movements of up to 10 metres difference between high and low tides on the huge Montgomery Reef, Australia’s largest inshore reef in Talbot Bay. These turning tides form a rushing waterfall effect between the water banks, best seen on a fast boat as you zoom through. Or spot rock wallabies perching on rocky outcrops along Cyclone Creek on a zodiac excursion.

Watch the scenery change as you head to the sandy coastal Lacepede Islands. Here seabirds and marine life abound including eagle rays. Keep an eye out for humpback whales as they migrate from Antarctica to the Western Australian coast where they calve in the warm waters and feed on zooplankton. Brown boobies - large seabirds from the gannet family - dive for fish and nest on the low sand atoll islands, while lesser frigate birds are a common sight.

Sitting between the red desert and the azure blue sea, the modern town of Broome is trimmed with white beaches. A draw for pearl fishing, divers once combed the coast for the riches of quality pearls. Visit Chinatown, established by early pearl traders, and shop for pearl jewellery. As well as soaking up the vibrant colors of the landscape, look out for osprey nesting on the pier or visit Gantheaume Point where, at low tide, the beach’s red rocks reveal dinosaur tracks.