Whether tackling big cities or quaint villages in Europe, you don’t want to feel like a stranger in a strange land, even though that’s exactly what you are. Getting oriented is especially important in big cities, which, for many travelers, are the most intimidating part of a European trip.

First, have a good guidebook, whether print or digital, for wherever you’re traveling. There are guidebooks for everyone: shoppers, vegetarians, seniors, campers. . . even opera...