Starting at Chatham and driving up the cape to the Easternmost tip of Provincetown—and stopping at the historic lighthouses along the way—is an iconic New England experience. While some are closed to the public, many will have staff on hand to share historically significant tidbits and even take you for a look inside. Best of all, there’s no need to pack a lunch: Each town you’ll pass will have plenty of can’t-go-wrong seafood shacks to choose from, where you can also always find the requisite soft-serve.

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