Zwiefalten, Steinhausen. Fly at 8.15am from London Heathrow to Stuttgart. Visit two pilgrimage churches: the double-towered church of Zwiefalten by J.M. Fischer and the oval church at Steinhausen, built and decorated by the Zimmermann brothers. First of two nights in Weingarten.

Weingarten, Bad Schussenried, Birnau. Begin with a visit to the magnificent Baroque basilica of Weingarten Abbey, ‘the St Peter’s of Germany’, then on to the glorious library hall at Bad Schussenried convent with abundant imagery. Finally, to Birnau, among vineyards above Lake Constance and one of the most delectable of Rococo churches. Overnight Weingarten.

Ottobeuren, Wies. A pinnacle of Baroque and Rococo emotional power is achieved at J.M. Fischer’s church and abbey at Ottobeuren. The pilgrimage church of Wies in the foothills of the Alps, created by the Zimmermann brothers, is of astounding beauty. First of three nights in Munich.

Munich. Visit the Italian-built Theatinerkirche, one of the first Baroque churches north of the Alps. The little church of St John Nepomuk, created by the Asam brothers for their own use and the Residenz, palace of the Electors of Bavaria, with sumptuous Rococo interiors and theatre by the architect Cuvilliés with the recently restored theatre. Free afternoon. Overnight Munich.

Nymphenburg, Diessen. On the outskirts of Munich, the palace, pavilions and gardens of Nymphenburg, summer residence of the Electors of Bavaria; the Amalienburg pavilion is the apogee of secular Rococo interiors. At Diessen, visit the abbey and Rococo church of St Mary designed by Fischer with frescoes by Bergmüller and an altarpiece by Tiepolo. Overnight Munich.

Weltenburg, Rohr, Pommersfelden. Two abbey churches by the Asam brothers: Rohr, with the altar of The Assumption, highpoint of Baroque sculpture, and Weltenburg, with controlled lighting and rich decoration suggestive of transcendental theatricality. Take a short cruise along the Danube. Visit Schloss Pommersfelden, a splendid country house with one of the grandest of Baroque staircases. First of two nights in Bamberg.

Bamberg. One of the loveliest and least spoilt of German towns, Bamberg has fine streetscape, riverside walks and picturesque upper town around the Romanesque cathedral. The Diocesan Museum has outstanding mediaeval textiles, the Baroque former town hall built on a bridge houses a porcelain collection. Free afternoon. Overnight Bamberg.

Bayreuth, Vierzehnheiligen. An enchanting version of Rococo decoration developed in Bayreuth in the town palace and at the Hermitage, a complex of gardens, palaces and pavilions and the wonderful Baroque opera house (by Giuseppe Bibbiena). Visit the pilgrimage church of Vierzehnheiligen (Balthasar Neumann), perhaps the greatest of Rococo churches. Overnight Bamberg.

Würzburg. Visit the Residenz in Würzburg, the Archbishop’s palace, the finest Baroque palace in Germany, designed by Balthasar Neumann with frescoes by G.B. Tiepolo. Fly from Frankfurt, arriving Heathrow c. 6.00pm.