Malaysia

If there's a more thrilling cocktail of Asian cultures than in Penang, we've yet to find it. Penang has long served as the link between Asia’s great kingdoms and an important outlet to the markets of Europe and Western Asia. At its heart is diverse, cosmopolitan George Town, Penang Island's main city and an urban centre that delivers old-world Asia in spades, from trishaws pedalling past watermarked Chinese shophouses to blue joss smoke perfuming the air. The freshest aspects of modern culture are present, too, in the exceptional art scene and free-spirited carnivals, all fed by an infectious local enthusiasm for Penang's long history and kaleidoscope of cultures.

If you linger in Lahad Datu, and hook up with Bike & Tours, you can learn to cook the Borneo way, dive and snorkel the local reef and shipwreck without the Semporna/Mabul crowds, or go mountain biking up and down Mt Silam for scenic views of Darvel Bay. It's a far cry from the first glance of this little coastal town, which appears to have a lively produce market, dry-goods market, sun-scorched buildings and very little else. Travelers who breeze through en route to Tabin Wildlife Park and Danum Valley, arriving on early morning flights from KK and spirited away immediately, are missing out. Lahad Datu's location, roughly halfway between Semporna and Sungai Kinabatangan, makes it an ideal place to fly into from KK if you're looking to commune both with sea creatures and orangutans.

This compact Malaysian state's catchphrase – 'Don't mess with Melaka' – sums up its confident attitude. Recent years have seen Melaka capitalise on its illustrious history and assert itself as one of Malaysia’s most irresistible tourist draws.

You don't have to look too hard to find traces of old KL in Chinatown's shophouse-lined streets, which border the confluence of the Klang and Gombak rivers. This is where the city was born, reached its teenage years with the development of Chinatown and celebrated its late 20s with the establishment of the British colonial ensemble around Merdeka Square. The Malay fort that once topped the jungle-clad hill Bukit Nanas has long gone, replaced by one of the city's most recognisable landmarks, the Menara KL telecommunications tower.

Located besides the Celebes Sea, near to the Semporna Archipelago, Sabah's third city Tawau features some of the state's best seafood and is a more pleasant overnight alternative than Semporna. Bombed by the British colonialists in 1944 to force out the invading Japanese army, much of its historical architecture is gone, but beauty is not far away. Tawau is the gateway to the awesome Tawau Hills Park, the launch pad for spotting pygmy elephants on a private plantation. It's also the starting point for one of the most scenic long-distance drives in Sabah.

Miri, Sarawak's second city, is a thriving town that is vibrant and modern. Thanks to the offshore oil, there are plenty of service industries and money sloshing around, so the eating is good, the broad avenues are brightly lit, and there’s plenty to do when it’s raining.

Cave temples, drowned forests, a town famous for bean sprouts – Perak's highlights are a motley group. This rugged swathe of Peninsular Malaysia is as rewarding for trekkers as gastronomes. Perak (literally 'silver', a nod to its tin-mining boom times) receives only a modest stream of international travellers, but to Malaysians, its attractions are totemic: white coffee, colonial-era architecture, limestone bluffs.

Also known as the Gunung Mulu World Heritage Area, this park is one of the most majestic and thrilling nature destinations anywhere in Southeast Asia.

Born of the British desire to fashion the teeming jungle into a pleasant park, the Lake Gardens (now officially named Tun Abdul Razak Heritage Park) remains a lush breathing space at KL's heart and home to top museums, themed parks and other monuments and sights. The transport and business hub KL Sentral and neighbouring Brickfields are immediately south of here.

The main reason to come to Semporna is to get yourself over to the Semporna Archipelago, a short boat journey away. The dive companies are all conveniently located in the same area, and many have a dive center at the resorts on Mabul Island. If you've booked your dive and stay from KK already, you'll be picked up from the airport by your respective tour company and spirited straight to Semporna's port and onto your end destination, so there's no need to stay a night here.