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A Roman settlement completed under Emperor Marcus Aurelius, Regensburg was the first capital of Bavaria, the residence of dukes, kings and bishops, and for 600 years an Free Imperial City. Two millennia of history bequeathed the city some of the region’s finest architectural heritage, a fact recognised by Unesco in 2006. Though big on the historical wow factor, today’s Regensburg is a laid-back and unpretentious sort of place, and a good springboard into the wider region.