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Your private driver meets you at your hotel this morning ready for a tour of the city. This will help you orientate yourself as you discover the main sites and attractions of Muscat, including a visit to the Sultan Qaboos Grand Mosque. This is one of the largest mosques in the world, with a capacity of up to 20,000 people. You also visit the Royal Opera House, the fish market and the Muttrah Souq, where you'll find an array of handicrafts, spices and fabrics.

Your car hire starts today. You can pick up your 4x4 vehicle this morning, ready for your first drive to the interior of Oman. En route, you will visit the coastal city of Seeb, the historic fort of Nakhal, and Wadi Bani Awf, where canyons, rock formations, and rivers provide beautiful scenery. You will arrive at your hotel in the historic city of Nizwa in the evening.

Spend the day driving around some of the highlights of the region including Jabrin Castle, one of the best forts to visit in Oman, and Bahla Fort, which is a UNESCO World Heritage Site. After, continue to Wadi Ghul, passing the pretty villages of Al Hamra and Misfah, and Wadi Nakheer, also known as the Grand Canyon of Oman.

Today's drive to your desert camp in the Wahiba Sands is an adventure in itself as you navigate sandy tracks in your 4x4. En route to the desert, you may wish to visit the town of Izki, home to the oldest falaj (irrigation channel) in the country and the remains of a fort. You could also stop to browse Sinaw's souq, which sells everything from vegetables to jewellery. On arrival in the desert, you have a camel ride at sunset across the dunes — a memorable experience.

Today, as part of your journey from the desert to the coast, you can stop at the beautiful Wadi Bani Khalid and go for a swim if you fancy. On arrival at Ras Al Jinz Turtle Reserve, you have time to rest at your accommodation and have dinner before setting off for the beach with a guide. Here, depending on the time of year, you can watch green turtles laying their eggs under the sand or see baby turtles hatching and making their way into the sea.

Return to Muscat, driving for around three hours along the coastal road, past beautiful white sandy beaches. Look out for sharks in the water and gazelles sprinting across the landscape. There are plenty of scenic places to stop for a picnic lunch, including the pretty seaside town of Sur. The town has a long history of dhow (boat) making, and is home to two forts. Spend the final evening of your trip in Muscat, where we have arranged a twilight dhow (traditional sailing boat) cruise for you.

You'll take the short drive to the airport today, dropping your vehicle off in time for your onward flight. Your return flight will arrive the same day.