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When you arrive in Prague after your drive from Vienna, take the opportunity to enjoy lunch (not included) before driving to see the Hradschin (Royal Palace).
In the afternoon, your 2.5 hour city tour reveals a wonderful panorama of Prague. You'll see Charles Bridge, the National Theater, the elegant residences lining the river, the Jewish cemetery (individual visit possible), the Parisian street, the Old Town Square and Wenceslas Square.
Before returning to Vienna, you will have time for shopping or exploring Prague's magical Old Town.