If you've ever vacationed in a major city—from London to New York or Bombay—you know how much of a hassle it is to navigate an unfamiliar place, especially when you're pushing through crowds and narrowly averting cars and taxis. Being able to rent a car is a must for most situations, but driving from attraction to attraction doesn't allow you to really connect with a city and its people. If you're planning to explore a new and massive city on foot, here are a few tips to help make the most of this amazing adventure:

Choose the Right Destination

Have you always wanted to walk through Orlando, or see the sights of Memphis on foot? According to Smart Growth America, you might want to rethink these choices because based to this group's research, these are two of the most unfriendly and downright dangerous cities to see on foot.

If you want to see a city that is both beautiful and ideal for you and your family to experience on foot, according to Frommer's, these are some of your best options:

• New Orleans – A city known for its music, Mardi Gras and amazing Cajun cuisine, Frommer's considers New Orleans a great city to experience on foot. The amazing restaurants, beautiful parks and the city's minimal traffic and well-kept streets combine to create an experience your feet can definitely handle.

• Florence – Although Florence isn't everyone's first choice when booking a tour of Italy, it is a must-see if you want to stay off the bus and park your rental car for the day. According to Frommer's, the major tourist attractions – including the Ponte Vecchio and Uffizi gallery – are within walking distance of one another.

• Vancouver, British Columbia – If you're interested in a more well-rounded experience, take a walking tour of Vancouver – including it's numerous parks and museum. However, once you're ready to let your rugged side take over, Vancouver is surrounded by a variety of hiking and walking trails for your family to explore.

The Importance of Great Shoes

Even if you're well-rested and enjoying your third triple-shot espresso, there is one thing that will quickly put a damper on your energy and excitement: the wrong shoes. When it comes to actually enjoying your walking tour, it's important to sacrifice style for comfort.

No matter what your destination, here are a few tips to help you pack or purchase the best shoes for hiking through an urban jungle:

• Proper Fit – Above all else, Everyday Health urges future vacationers to have their feet measured before purchasing a sturdy pair of walking shoes. If your feet are prone to swelling, keep this in mind before potentially buying shoes that might be uncomfortable by the end of the day.

• The Look – If you've always dreamed of wearing heels while strolling the streets of Paris or Milan, think again because chances are, this fashion choice will wreak havoc on your feet. If you don't want to sacrifice style for comfort, wear a pair of cute flats or supportive sandals.

• The Insoles – If you suffer from any number of common foot problems – including flat feet – Everyday Health recommends purchasing over-the-counter or specially made orthotic insoles.

No matter what type of shoes you choose or the number of hours you spend on your feet, it's vital to give your tired dogs a break once you're back at the hotel room. Relax with your feet slightly elevated, soak them in some hot water or if you're really sore, splurge on a massage and pedicure at the hotel spa.

If you're traveling with kids, have limited time in the city or simply want to hit all the major hot spots, there is one way to get the most from your visit: book a walking tour. A knowledgeable tour guide can show you both sides of any city, from the biggest tourist attractions to lesser-known sights that most tourists never experience. While you should read more about renting a car or have another easy transportation option, be sure to think about the benefits of walking.