The Marburg Castle sits high above the beautiful, historic hilltop city with its half-timbered houses, cosy streets and thousands of steps. It is a reasonably short but steep walk from the town square but there is also a regular bus service, and if you don't mind a few narrow, bumpy and steep roads, you can even drive there! The Museum covers the long history of the castle in a well-designed and not overwhelming presentation (not really for people with walking difficulties). There is a restaurant/cafe nearby but not inside the castle.
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