On arrival in Windhoek, Namibia’s pleasant capital city, collect your rental vehicle and drive to the Okonjima Plains Camp for the night. Settle in and unwind in the camp’s swimming pool or simply relax on the wooden veranda, but be sure to visit the Africat project to learn about the local carnivores.

Enjoy breakfast at Okonjima Plains Camp before hopping into your rental vehicle and driving to the Onguma Private Game Reserve on the border of the Etosha National Park. Check into Onguma Bush Camp before beginning your exploration of this wildlife-rich area – although you do not have to go very far to see animals: sip on a refreshing drink as you sit on the lodge’s game-viewing platform which overlooks the much-frequented waterhole.

Enjoy self-drive excursions through Etosha over the next two days – the park is easy to drive around and has an excellent blend of classic savannah game species and desert specialists, and it is a destination famous for predators, black rhino and elephant.

Make your way after breakfast to the rugged Damaraland region where you’ll stay at Doro Nawas Camp for two nights. It’s a desolate region at first glance but it’s also an area of great beauty and has surprisingly good wildlife too. Cool off in the swimming pool or enjoy a drink at the bar before watching the sunset from the roof – and once it’s dark, enjoy some spectacular stargazing.

Take a trip to Twyfelfontein where you can see ancient San (Bushman) rock engravings, part of the largest collection of prehistoric rock art in Africa. Enjoy game viewing along dry riverbeds and tangled thickets too, and keep an eye out for elusive desert-adapted elephants and other wildlife in this wild but rewarding region.

This morning you’ll drive to Namibia’s Atlantic coastline and the Swakopmund Guesthouse in the quaint, German-colonial town of Swakopmund. There are plenty of adventure activities on hand in Namibia’s holiday playground – quadbiking on nearby sand dunes, sky diving and sandboarding to name a few – but you can also wander the friendly streets and visit boutique craft shops, coffee shops and cafes.

Enjoy breakfast and perhaps one last activity in Swakopmund before leaving the coast behind. Marvel at the rugged, lunar-like conditions of the Kuiseb Valley as you drive through the vast Namib Desert to your accommodation – Kulala Desert Lodge. Enjoy a refreshing swim in the swimming pool or relax on your chalet’s rooftop veranda and take in the sunset over the desert plains.

Wake up early and embark on a guided trip to Sossusvlei to experience the famous red dunes up close. At up to 300 metres high, these dunes are said to be some of the world’s tallest – and you can find out for yourself: stop at Dune 45 and climb to the top. Set out with your guide in the afternoon for a nature walk around the lodge’s private reserve.

Experience the dramatic Namib landscape from above in a hot-air balloon and enjoy a champagne breakfast before ending your Namibian self-drive adventure in Windhoek. Return the rental vehicle at the airport and board your outbound flight.