I have 4 days to visit the cities where my ancestors are from, Neustrelitz and Mainz. I will start my trip from Lucerne, Switzerland and end up in Frankfurt am Main. This is my first trip to Europe, so I am not exactly sure what would be the best way to get around. My father and daughter are going with me. Should we rent a car and drive to these places, or would it be easier to take a train to Frankfurt and get a hotel there and then take a day trip to Neustrelitz? Also, what would be some things we would should do in these places? Are there any castles that would be worth visiting?