Our adventure begins in Muscat, the coastal capital of Oman. We get straight into the action with a tour of the city highlights. It begins at the Grand Mosque (which you must cover up for) and Bait Al Zubair Museum, which introduces us to the history and development of the country. On Fridays, when both are closed, our tour leader amends the schedule to visit the mosque and museum tomorrow.

We then drive along the waterfront corniche, visiting the fish market and Muttrah Souq, before a photo stop at Al Alam Palace, official residence of the Omani royals.

We then have free time for the rest of the day. Options include a visit to the Old Muscat area, a walk along the corniche, or a sunset dhow cruise.

Accommodation: Radisson Blu, Muscat (or similar)

Set off this morning for a 4×4 ride (4hr 30min) through the Hajar Mountains. Our first stop is the Nakhl hot springs, where we can take photos and climb down the stairs to the water.

Jump back in the 4x4s for an adventurous one-hour drive through Wadi Bani Awf, a valley where steep bends and bumpy roads lead us to Bilad Sayt, considered among the most picturesque mountain villages in Oman with terraced farms and date plantations.

The road then winds through the peaks to Al Hamra at the foot of the Hajar range, a village of Yemini-style mud houses and more date plantations.

Accommodation: Sama Jabal Shams (or similar)

After breakfast, we visit Jabrin Castle. Built in 1675, it was once a place for the study of astrology, medicine and law, while the hand-painted ceilings are particularly impressive.

Next, we head into Wadi Nakhr, an 8mi (12km) long valley through the Hajar Mountains. With towering cliffs, some more than 3,280ft (1,000m) high, it has been nicknamed the Grand Canyon of the Middle East and is undoubtedly one of the most spectacular natural wonders in Oman.

After a walk through the wadi, we visit the old mountain village of Misfah, where we can see mud-and-stone dwellings and learn about traditional life in the Omani mountains.

As we continue our journey, we stop in the Wadi Ghul to see the towering cliffs, before visiting Jebel Shams, the highest peak in the Jebel Akhdar range, for spectacular views.

In the evening, we head to Nizwa, an ancient city that served as the capital in the sixth and seventh centuries.

Accommodation: Al Diyar Hotel (or similar)

See two city landmarks this morning: the impressive Nizwa Fort, built in the 17th century to defend the natural wealth and strategic location of the city, and the renowned souq, famous for intricately hand-carved khanjars (traditional curved daggers), silver jewellery and livestock trading.

After, we head to the village of Birkat Al Mouz, where we walk through lush date plantations. It’s then onto a 22mi (36km) stretch of winding road that takes us to Jebel Al Akhdar, where we can enjoy the cool climate 6,560ft (2,000m) above sea level.

Reaching Al Ain, we embark on a walk through mountain villages for a chance to see traditional life and dramatic views over peaks, gorges and wadis. Come in March or April and you’ll likely see roses in full bloom; the villagers even make rose water in their homes.

Accommodation: Sama Jabal Akhdar (or similar)

Our desert adventure begins today as we drive (four hours in total) to the golden dunes of the Wahiba Sands, also known as the Sharqiya Sands. En route, we visit the desert oasis of Wadi Bani Khalid.

Arriving at our Wahiba Sands resort, we visit a Bedouin house to spend time with the hosts and learn about their customs and traditional lifestyle. We also explore the dunes on a one-hour 4×4 ride, before enjoying our first night in the Omani desert – an unforgettable adventure.

Accommodation: Arabian Nights Resort (or similar)

Embark on a four-hour drive across the desert after breakfast, riding the sand waves. Upon reaching Qahid, we continue to Shannah, a route that follows the Arabian Sea on one side and desert dunes on the other.

After lunch, we continue to Bar Al Hikman, a birder’s paradise with thousands of small shore birds and often flamingos. We then proceed to Filin, a desalination plant, before finishing in the fishing village of Khaluf, where, if we’re lucky, we can spot dolphins out to sea. Tonight, we camp right on the beach.

Accommodation: Wild beach camp in Khaluf

Leaving Khaluf, we depart for Duqm, a port city that has grown rapidly from a fishing village. En route, we visit Wadi Shuram to see the oldest rocks in Oman, pass through a small palm tree oasis and climb a hill for 15 minutes to enjoy a stretching view over the wild desert.

We reach our Duqm hotel mid-afternoon, but not before a stop at the Rock Garden, an intriguing collection of boulders cast into unique shapes by nature.

Accommodation: Season Inn Hotel Duqm (or similar)

Today we drive (one hour) to Ras Madrakhah, a beach of white sands, dark rocks and blue ocean. We then transfer (two hours) to Qahal, where algae turns the lagoons pink.

Finally, we head into Wadi Shuwaymiyah (2hr 30min), one the most spectacular valleys in Oman and home to hyenas, camels, ibex and gazelles. Here, we enjoy a night of wild camping.

Accommodation: Wild camping in Wadi Shuwaymiyah

After breakfast, we continue our journey (five hours) to the Empty Quarter, the largest sand desert in the world, covering parts of Oman, Saudi Arabia, the UAE and Yemen.

Our route takes us up the mountains to Marmul, an oil region, before heading west to Thumrait. We then drive north to Ubar, which we visit tomorrow, before arriving at our wild campsite in the Empty Quarter.

Accommodation: Camping in the Empty Quarter

After breakfast, we drive (1hr 30min) to explore the ruins of Ubar. Labelled in classical works as the Atlantis of the Sands, a city lost to the desert, Ubar was a major trading hub for frankincense more than 5,000 years ago, connecting Oman with Mesopotamia, Rome and India.

Next, we have a dune-driving experience (20 minutes) before transferring (2hr 30min) to Salalah. In the evening, you might like to join a city tour, visiting the souq and beach.

Accommodation: Intercity Salalah (or similar)

The adventure ends today, and we begin our return journeys home. If you’d like a little more adventure, speak to your sales representative about extending your stay.