Munich's lively Marienplatz pulses with outdoor cafes, shoppers, street musicians and happy tourists. At the famous Hofbrauhaus, we sample Bavarian beer and kick up our heels with Schuhplattler dancers clad in lederhosen. Next stop is the Residenz, the family palace built by the Wittlesbachs, who ruled Bavaria for more than 700 years. Just outside of town, a sobering visit to Dachau concentration camp reminds us of the dark side of Germany's past. Then, we move on to lighter vistas—a trip into the mountains takes us to "Mad" King Ludwig's fairytale castle Neuschwanstein and on an exhilarating luge ride. Tip: Finding Bavaria’s best beer gardens.