In 2013, National Geographic Traveler chose St. Augustine as one of “20 must-see places and best trips in the world.” But while tourists take in the fort and stroll the cobblestone streets, few visitors are aware of the remarkable history of this oldest continuously occupied European-established settlement in the continental UnitedStates.

Walking St. Augustine fuses illustrated history and intimate handbook. The author, Elsbeth “Buff” Gordon, one of the city’s most highly regarded historians, is also a resident and offers insider tips for exciting adventures.

Gordon divides the colonial village into sections, all easily walked in a single day.She guides visitors through Plaza de la Constitucion, the oldest public park in America, and down the same avenues walked by the first Spanish settlers. She vividly retells landmark events, highlights areas of architectural or historic interest, delves into the genealogy of the multicultural families that have made St. Augustine home, and offers human stories and heritage recipes passed down through the centuries.

With this vibrantly rendered, easy-to-use, and color-coded guide, visitors canwalk the seldom-visited south end of the city, which includes the earliest residential area with streets dating back to 1572, and stop in at the Flagler College complex, its more recent history illuminated by its architectural perfection. Gordon suggests visiting the Colonial Quarter Living History Museum, and for those looking to venturebeyond walking distance, the Fountain of Youth Archaeological Park, Anastasia Island, and Fort Mose, the nation’s first legally free black settlement.

Walking St. Augustine opens the doors to a spellbinding city, allowing visitors to discover five centuries of gripping history.