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There is no better way to get to know a town than on foot. Strolling the sidestreets, meandering the leafy parks, joining the crowd downtown — walking gives you an appreciation for a place that you just can’t get from a vehicle. So park the car and take a hike around these charming Maine towns that are easy to navigate and fun to explore. Amble through welcoming communities, picturesque streets, and historic downtowns in the New England state that is always ready to greet guests.

Saco

Saco, in southwestern Maine, is one of the oldest settlements in the state, first inhabited by the Pequawket tribe and discovered by European settlers in the early 17th century. Today Saco is an officially designated Main Street Community, recognized for its work to preserve the town’s historic buildings in the downtown core. Begin your day at the Saco Museum on Main Street, the third-oldest museum in Maine. Open year-round, the museum was founded in 1866 and houses 17th and 18th-century artifacts as well as rotating contemporary exhibitions. From there, stroll south on Main to Saco’s grand City Hall. This 1855 building is on the National Register of Historic Places and houses a portrait gallery in the auditorium that’s open to the public.

Continue a few blocks south towards the Saco River and you’ll find Rapid Ray’s — the perfect place to fuel up after all that walking and sightseeing. This classic diner has been serving visitors since 1957. Be sure to try the local favorite, the Maine Lobster Roll. No visit to Saco would be complete without a riverside stroll. Coming out of Rapid Ray’s, walk south before turning left onto Water Street and heading towards Jubilee Park, a lush green space on the banks of the Saco River.

Bar Harbor

One of Maine’s most popular destinations, Bar Harbor is a welcoming coastal town with a pretty main street lined with boutique shops, galleries, fine dining, and cozy cafes. Before you shop, catch some sunshine and enjoy the views along the Bar Harbor Shore Path, which is more than a century old and winds along the shoreline to the Town Pier, where you’ll find waterfront restaurants and shops. If you’re in the mood for a bite, check out the award-winning Reading Room Restaurant, famous for its gorgeous views and delicious seafood.

From the pier, head up Main Street to browse Bar Harbor’s many specialty shops and pick up a unique souvenir. Pick up some stunning jewelry at the Navajo-owned Native Arts Gallery, or take home a painting from a local artist at the Seaside Arts Gallery. Just a few blocks south, past the Village Green, you’ll find the Abbe Museum, tucked away on Mt Desert Street. This Smithsonian-affiliated museum showcases the history and cultures of Maine’s Native people, the Wabanaki.

Camden

Camden is a small town on West Penobscot Bay in southern Maine that comes alive in the summer months with a booming seasonal population. Known as a resort town, you’ll find most of the action in Camden at the waterfront. Head to the harbor to see tall ships and schooners or book a cruise around Penobscot Bay. From there, stroll north up Main Street towards Harbor Park, a tranquil oasis with panoramic views of the Bay and plenty of sunny picnic spots.

The Park is also home to Camden’s two most famous historical landmarks, the Camden Amphitheatre and Camden Library, both listed on the National Register of Historic Places. Built in 1928 at the highest point on Main Street, the Library is a beautiful example of Colonial Revival architecture. The landscaped grounds around the building include the amphitheater and park, which often play host to summer festivals, evening concerts, and other entertainment.

Rockland

From its picturesque lighthouse to its pastel clapboard houses, Rockland is a classic New England town. You can see it best from the Rockland Harbor Trail, a 5.5-mile waterfront walking path linking the downtown core with the town’s harbor area. Pick up the trail downtown in Harbour Park where it meanders across the boardwalk and heads north. Follow the signs to Main Street to enjoy this busy shopping thoroughfare, where you’ll find cafes, restaurants, and retail outlets. Also on Main Street is the Project Puffin Visitor Centre, a specialty museum celebrating Maine’s unique seabirds. A few blocks north, on Museum Street, you’ll find Farnsworth Art Museum, home to a nationally recognized collection of America’s finest art.

Follow the signs to pick up the Harbor Trail again and move back towards the water. The trail ends at the Rockland Breakwater Lighthouse, a must-see spot for vacation photos. Accessible from a 7/8 mile breakwater path, you can walk right out to the historic landmark, which was built in the late 1800s to guide ships sailing into the harbor.

Kennebunkport

On the shores of southern Maine lies Kennebunkport, a former shipbuilding town with a very chill vibe and a small but vibrant downtown. The main thoroughfare, Western Avenue, crosses the Kennebunk River, which flows into Grist Mill Pond and leads past local hotspots, including the Clam Shack, a foodie favorite since 1968. Just past the river, Western Avenue becomes Dock Square, a shopping mecca where you’ll find multimedia art galleries, funky boutiques, and locally-made gift shops.

Head up Dock Square to Spring Street, at the top of which is the First Families Kennebunkport Museum. This unusual attraction charts the Bush family’s decades-long connection to the town and is housed in a beautiful 1850s stately home.

Ogunquit

South of Kennebunkport is Ogunquit, a tranquil seaside town perfect for lazy summer strolling. It’s also home to one of the most popular waterfront walks in New England, the Marginal Way. This short but scenic coastal trail is just 1.25 miles long and starts at the Sparhawk Oceanfront Resort, a sprawling beach resort with an enviable location right on the water. From there, the Marginal Way hugs the coastline, traveling past landmarks, including the Lobster Point Lighthouse, built in 1948, and ending at Perkins Cove.

This artist's colony and fishing enclave is a treasure trove of boutiques, cafes, and curiosity shops. After exploring, head back up the Marginal Way to where it meets Shore Road. From there, it’s a quick walk to Ogunquit’s Main Street, where you’ll find more charming shops and eateries.

Castine

One of the oldest towns in New England, Castine can trace its history back to the mid-1600s. The town’s short Main Street is a gentle downhill slope to the waterfront, full of fascinating architectural gems, historic churches, small shops, and traditional inns. Stop by the Castine Historical Society on the corner of Court Street and School Street to book a guided walking tour, browse the museum, or check out the gift shop. Back on Main Street, pop into the Gallery B boutique to view dazzling photography, sculptures, and paintings from local artists. If you’re feeling peckish after all that exploring, stop into the Pentagoet Inn. Built in 1894, this is Castine’s oldest and most picturesque hotel. Now a bustling pub and historic B&B, the inn prides itself on its local farm/sea-to-table menu and period-style decor.

Discover Maine on Foot

Maine’s signature New England charm is easily recognizable in its quaint small towns. It’s no wonder the state attracts almost 25 million visitors a year. Getting out of the car and taking to the streets is the best way to see the sights in these inviting Maine destinations. Stroll along the waterfront in Bar Harbor, snack on fresh caught clams in Kennebunkport, soak up the sun at the Camden amphitheater, with all these incredible sights within walking distance, who needs wheels?