We are a family of 4(older kids 21, 14) and I am having a little trouble with some of our itinerary. 10 nights total to use. We are so far starting at: Frankfurt(1night because we don't get in until 6pm), Bacharach 1night, Rothenburg 1night, Neuschwanstein area of Bavaria 2 nights( Where is the best place to base so we can view castles and enjoy the area? Munich 2 nights Salzburg 3 nights, then we fly out of Frankfurt. I was going to spend the last night in Frankfurt prior to flying out.
Any suggestions for Bavaria? We will be traveling by train but would consider getting a car for a day or so in Bavaria.
If you are arriving at 18:00, go ahead and go to Bacharach. It isn't dark here until almost 22:30 or so. The train ride is easy and doesn't take that long. The airport is quick and efficient too, so you could be headed out to your train by 18:45. Taking a Regional train means you don't need to get your tickets ahead of time either. For things to do in Frankfurt, I have 100's of posts on here about the sights to see and things to do and hotels to stay in, if you use our shiny new Search function. It kind of depends on your interests of course. Have you considered basing in Munich to go see the castles, Salzburg, etc. ?
I agree. You're having some trouble. Here's what I'd probably do. Day 1: You could stay at the airport, or take the train into Frankfurt and stay near the main station. But that will take time too, and I think it makes more sense to make some progress. Toward Rothenburg, not Bacharach yet (do that a the end of your trip.) Würzburg is a nice, smallish city - the 19:37 from FRA gets there at 21:03. The Hotel Regina is across from the station. Day 2: It's now only one hour to Rothenburg. Stay one night as planned. Day 3-5: Do Munich for 3 nights. I'd suggest a daytrip to Füssen, if you go at all. (It's 5 hours round trip, which you must travel whether you overnight there or daytrip.) You will have time to see some real medieval castles in/near Salzburg and Bacharach later, so it's definitely skippable. N'stein is not a castle at all but a late 19th-century private home made to look like one, and a very successful tourist trap, IMO. It's cool to see from outside, but that's about it. The tour is short and isn't much. You can visit the Residenz in Munich, by the way, as an Ersatz experience for Hohenschwangau: http://www.residenz-muenchen.de/englisch/museum/index.htm
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Day 6-8: Train to Salzburg. See Hohensalzburg fortress. 3 nights will allow for a daytrip to Hohenwerfen castle - free-flight falconry show here! http://www.salzburg-burgen.at/en/ Day 9: Long trip to Bacharach. Note that you might want to stay in neighboring Oberwesel instead - in the morning there are direct trains from Oberwesel to FRA that take one hour at 7:35 and 9:35. From Bacharach there's just one direct train at 6:55. Day 10: Take a river cruise north to Braubach for a tour of Marksburg Castle: http://www.marksburg.de . You might want to take the train south to Bingen to start the cruise - you'll see more that way. Visit Rheinfels castle in St. Goar too. Enjoy Bacharach.
There is never a good reason to stay near the airport in Frankfurt, when the city is only 11 min. away. You will spend more time waiting on a shuttle bus than it would take to take a train into town. Or, you will pay twice as much for a hotel and there is zip to do out there at the airport. Do leave some time to see Frankfurt (or Mainz if you prefer to stay there, as there are so many historic sites to see in both cities.
We spent time in Salzburg and Munich in December and other areas of Barvaria. We ultimately decided to skip Neuschwanstein because it is an all day trip and apparently, if the weather isn't good (at least at the time of day we were there) you can't see the castle very well. It does seem like a lot of hassle and we decided we would rather spend the time some place else, however, there were people at the pension we stayed at who went and had a nice time. I believe one of the couples stayed in Fussen, which seems like it might be the way to go if you want to see the "castle". Older kids will like Munich and Salzburg, lots of shopping, walking, and all around places to see. Berchtesgaden is a cute place. There is a great path that you can walk to the konigsee. You can see the eagle's nest from the path. It is a easy trip from Salzburg by train. There is a short boat trip you can take from the konigsee (which we did not leave time for). Hallstatt is also a fun trip from Salzburg. It is very scenic. You have to be sure you don't miss the last train back, though.
Thank you everyone for the input. My family is so excited about the trip.