One of the best ways to explore the small and historical town is by bicycle. I rented mine from HMI Yamatoji, but you can rent one from outlets all around Asuka. There is a good network of bicycle paths, and the roads are quiet with little traffic, making it easy and safe to explore on two wheels. With a beautiful backdrop of mountains and rice fields, and lots of historical shrines and sculptures to visit, Asuka is a place you simply must take time to explore when you are in Nara. After that, you can relax your tired muscles in one of the many onsens in the area, such as the one in HMI Yamatoji.
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