Kenya to Cape Town

Jambo! Welcome to Kenya. Your adventure begins with a welcome meeting at 6 pm, where you’ll meet your local leader and fellow travellers. If you arrive early, perhaps head out and explore the National Museum of Kenya, the Karen Blixen Museum, or join a local guide on an Intrepid day tour who'll not only show you the sights but also lead you to the perfect lunch spot to try some local cuisine.

Depart early this morning, headed for Mto Wa Mbu in your overland truck. The trip includes a border crossing from Kenya into Tanzania, so be sure to have your passport ready. While you're on the road, there will be a stop at an ATM and a market or shop to stock up on any supplies you might need for the coming days. Arrive in Mto Wa Mbu and familiarise yourself with this delightful small village – it's a fascinating snapshot of small-town African life, situated well off the tourist trail.

Rise bright and early, put your camping and personal gear into a six-person jeep and head out for an excursion into the Serengeti via the Ngorongoro Crater. During your safari through this impressively intact volcanic caldera, watch for black rhinos, lions, leopards, elephants, impalas, zebras and hippos. The crater floor offers excellent wildlife viewing all year round (some 30,000 animals live here!) and the photo opportunities are unparalleled. Next, it's on to the wide open plains of the Serengeti. Green after the rains, brown and burnt in the dry season, this is perhaps the quintessential image of Africa – the home of thousands of hoofed animals and fierce predators. Your campsite is located within the Serengeti itself, so listen out for the sounds of nocturnal animals as you drift off to sleep.

Wake up at dawn and head out on safari at a time when the animals are at their most active. Then, head back to camp for brunch at around 11 am. You’ll have the middle of the day to relax at the campsite, then you’ll head out again as the day begins to cool. You'll return from your second safari in time for dinner. You might also opt to take a balloon safari over the park this morning. If you have booked this activity, you will be picked up before dawn and driven to the launch site. After a safety briefing, take off and glide through the dawn sky, sometimes at tree height, getting some amazing photo opportunities. Sometimes you'll ascend higher, giving you an overview of the vastness of the plains. After landing, celebrate with a glass of champagne before tucking into a special bush breakfast.

Rise with the sun and go out on another game drive. Then, leave the Serengeti behind and jump back into your overland vehicle, bound for Mto Wa Mbu. When you arrive, set up camp, then you’ll take a guided stroll through the local homes and farmlands, getting to know the local community and their way of life. Later, you’ll enjoy a local dinner in town.

Prepare yourself for a long travel day as you head for the Usambara Mountains. Stretch your legs during a brief supply stop in Arusha, then jump back in the vehicle and watch the ever-changing scenery, read your favourite book or take the chance to get to know your fellow travellers better. Your base in the Usambara Mountains will be Lushoto – home to the Wasambaa people. This highland town sits at an elevation of approximately 1400 m. This evening, you'll camp on the grounds of one of the oldest hotels in Africa.

Explore the striking landscapes of the Usambara Mountains today. Unlike the coast and the north, far fewer tourists visit this part of Tanzania. As beautiful as the surrounding mountains and rainforests are, however, the real highlights here are the local people and villages. You'll experience the local hospitality on a visit to a small community. You’ll also take a walk out to the Irente Viewpoint. It's best to pack some water and snacks in a day pack for this trip. On your way back, visit a local cultural project where you’ll also stop for lunch.

Leaving the mountains behind, travel further south to the coastal town of Kipepeo Beach in Dar es Salaam. Your camp is by the beach, so make the most of it – maybe take a stroll along the shore after you arrive and settle in.

Catch a ferry to Zanzibar, Africa’s famous ‘Spice Island.’ On arrival, enjoy some free time to discover Zanzibar City at your own pace. Lose yourself in the maze of cobblestone alleyways in Stone Town, admire the mix of Arabic, African and European architecture, or soak up the bustling atmosphere of Darajani Bazaar. This afternoon, you’ll have another welcome meeting at 2 pm to meet the new travellers joining you on the next leg of your adventure. After your meeting, perhaps head out together for dinner at a local restaurant – your leader will have the best recommendations.

Once checked out of your Stone Town accommodation, consider booking in to an optional guided tour of the island's spice plantations, learning all about the history of this town's spice trade. You will have the opportunity to smell and taste various spices, such as cinnamon, vanilla and ginger, plus sample some teas made with these spices too. After lunch, head to the Northern Beaches, where white sands and sparkling blue seas await. This is the Indian Ocean at its best.

Travel to Etosha National Park this morning. While Etosha National Park is home to a wide range of southern Africa's wildlife, including the big carnivores and five rare or endangered species: black rhino, Hartmann's mountain zebra, black-faced impala, roan antelope and the tiny Damara dik-dik. Game viewing in Etosha is relatively easy due to the man-made waterholes and the large, sparsely vegetated pans. The bushland surrounding the pans is difficult to see through, but there are enough clearings, pans and waterholes to usually allow for some sightings. Embark on an optional evening game drive here in the evening, then spend the night at Namutoni. Accommodation upgrades are on offer here.

Enjoy a full-day game drive in Etosha National Park. Namibia has protected its game reserves against poaching, which means significant numbers of elephants, antelope and other herbivores reside here. The park is also home to some 340 species of birds – keep an eye to the sky where you might spot a soaring eagle. Tonight, you will stay at the particularly spectacular Okaukuejo Camp. The camp overlooks a floodlit waterhole visited by many different species throughout the day and night. Upgrades are not available at this location tonight.

Travel to the mountain of Spitzkoppe today. The wild lands around this superb granite peak are some of Namibia's most stunning. The mountain itself is 700 million years old and 1987 m (6519 ft) high. Although you shouldn't try to climb to the top, the area is rich in plant life and with some bush paintings to be found. Be sure to look out for the sunset from your bush camp this evening – the landscape is known to take on dazzling hues of orange and red.

Continue to the town of Swakopmund. Be dazzled by the sight, sound and smell of thousands of olive-coloured seals on the shores of Cape Cross while you're travelling up the Atlantic Coast. You'll be able to stop along the way to access an ATM and market if you need some supplies.

Surrounded by the massive dune fields of the Namib Desert on three sides and the Atlantic Ocean on the other, Swakopmund is an example of the German culture found in all major settlements in Namibia. With your free time, maybe wander the streets and explore at your own pace or ask your leader for recommendations on activities and dining options.

Today is another free day to enjoy this fun beachside town. If you're after a dose of history and culture, you can stop in at the lighthouse and visit the Swakopmund Museum. Active types and thrillseekers might like to take advantage of the many outdoor activities on offer – this town is the adventure sports mecca of Namibia.

Drive to Sesriem, your base for exploring the incredible Namib Desert region. The most famous part of the Namib Desert is its vast dune fields, the most spectacular of which are found near the Sesriem Canyon. This canyon was formed when the Tsauchab River carved a gorge 30 metres into the gravel deposits about 15 million years ago. Now, the river flows out to the dune fields that stretch for hundreds of miles up the coast and dries up in a clay pan at Sossusvlei. The dunes – the highest in the world – are stunning, with magnificent flaming tones created by the brightly coloured sands.

Wake up before dawn and scramble to the top of the dunes for a dramatic sunrise view across a vast sea of sand. The colour changes are simply incredible and provide a spectacular setting for your brunch. Afterwards you will jump in the back of a pickup truck for a trip to Sossusvlei, the incredible salt and clay pan just nearby. Enjoy some time to explore this incredible and mysterious desert oddity. Later, continue to your camp past the small town of Bethanie. Your camp has basic facilities, with showers, flush toilets, wi-fi and optional upgrades.

Check out the town of Bethanie before heading further south into the vast desert lands of Namibia towards Fish River Canyon. At 500 m deep and over 160 km long, Fish River Canyon is one of the very largest canyons in the world. During the dry season, the riverbed tends to dry out completely, leaving only a few puddles. In the wet season, after the summer rains, the river can turn into a spectacular raging torrent. At any time of year there are remarkable photographic opportunities here as you watch the colour of the granite rocks change as the sun goes down.

Departing Fish River Canyon, travel to Noordoewer in southern Namibia. Pitch your tent on the scenic banks of the Gariep (Orange) River, which stretches 2200 kilometres (1367 miles) – the longest river in Lesotho. The river’s source is high up in the Drakensberg mountain range, and it flows into the Atlantic Ocean at Alexander Bay in South Africa. The Orange River is responsible for transporting diamonds and creating the deposits that can be found along the Namibian coast.

Depart your camp first thing in the morning and head to Klawer, a town named after the Afrikaans word for a wild clover blooming after rainfall. The surrounding countryside is beautiful, and if there's time, you’ll have the opportunity to explore some of it. Perhaps take a delightful walk around the nearby mountains and farms before settling in for a relaxing evening.

Head to Cape Town this morning, where your trip will come to an end. With its stunning coastline, modern cityscape, nearby mountains and a plethora of vineyards within reach, this is one of Africa's most exciting cities. There's no accommodation provided for tonight, but this can be arranged – please enquire at the time of booking this trip.