See rare motorcycles, including what is believed to be the first Harley-Davidson, and climb onto some bikes yourself. Plan on about two hours for the visit.

The wing-like sunscreen and ship-shaped architecture are a sight to behold. Even if you skip the galleries, the grounds are free to explore.

This lakefront park is the go-to spot for Milwaukee's summer festivals. Summerfest brings hundreds of performers, plenty of food and music right by the lake.

Head out for a run along the lakefront and enjoy Milwaukee's setting on Lake Michigan.

Make a beach stop here while exploring Milwaukee's Lake Michigan shoreline.

Milwaukee's largest public beach is another option for spending time by Lake Michigan.

This smaller beach feels more private and secluded than Bradford. Look for the stairs by the flag and be ready for 136 steps down.

We highly recommend this three-mile walk for exploring Milwaukee. It's free year-round, with public art and plenty of restaurants along the way.

Look for this Happy Days tribute along the RiverWalk. It's one of the walk's most memorable public art stops.

Find Gertie and her ducklings along the river. Their heartwarming story captured national attention during World War II.

Finding the entrance is just the beginning at this spy-themed restaurant. We loved the secret doors, historical artifacts and fantastic food.

Stop in for authentic German sausage and mouthwatering brats. Be prepared to leave with more sausage than you planned.