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Between Brussels and Amsterdam

My husband, 2 year old and I land at Brussels last week of August and have about a week before flying out of Amsterdam.
We would love to spend our time exploring the area between Brussels and Amsterdam during that week.
Would you recommend driving around? Or would train be the best mode of transport?
Could you give us suggestions on places that we should visit? We love small, charming towns and nature and would love to experience the culture in these places.

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Most cities in the Netherlands are easy to reach by train, so you can do them as daytrips from Amsterdam, the same for Belgium from Brussels. In cities a car makes no sense, but for visiting the countryside like the Delta Region a car is the best mode of transport.

Even pretty close to Rotterdam a car to visit the Maeslantkering is to prefer if you combine it with a visit to the Eastern Scheldt Storm Surge Barrier. Between the two a nice place for a stop is tiny but lovely Goedereede. Further south Veere, Middelburg and Domburg. Zierikzee and the moving Watersnoodmuseum / Flood Disaster Museum in nearby Ouwerkerk.

If you rent from Europcar you can drop the car in Goes or Breda, take the train to Antwerp / Brussels with a change in Roosendaal or for instance the train to Vlissingen, ferry to Breskens and the bus from there to Bruges in case you want to stay there.

Have to say with so much to see in the cities and only having a week there will be little room for exploring the countryside, nevertheless this is an option to consider. Another one can be driving around the IJsselmeer with Friesland and historic cities like Kampen, Zwolle, Deventer and Zutphen along the IJssel river.