One of the delights of traveling by boat around the U.S. is exploring little towns, rural marinas and big cities that push up to the edges of the waterways we ride upon. Norfolk is one of America’s original harbors and sits at mile zero of the Atlantic Intracoastal Waterway. In just two generations the city has transformed its waterfront into an upscale and welcoming mélange of art, music, food, events and businesses all rooted in a cultural expression of its maritime heritage.

The location of Norfolk ‘s Waterside Marina offers boaters a leisurely walk to several museums that are at the core of the city’s cultural expression. There are plenty of restaurants, pubs and coffeeshops nearby. And with the recent renovation of the Market at Waterside District, there’s plenty to do.

I have highlighted two museums that are worth an afternoon or more of your time, and a performance venue that always delights

The Chrysler Museum of Art is about .7 n.m. from Waterside Marina. You can walk off your sea legs through a safe and well-maintained downtown filled with restaurants, shops, historic homes and antebellum neighborhoods. Or, you can take the light rail “Tide.” The Chrysler Museum sits on a delightful promenade known as the Hague. And, there is no admission. The history of Norfolk’s relationship with Walter Chrysler, Jr. and his art collection is a fascinating exploration of right-time-right-place for both the city and the son of an iconic automaker.

Three years of research by two museum experts, Anne Bergeron and Beth Tuttle, focused on what it takes to make a museum successful. After analyzing dozens of institutions, they found six museums that illustrated common traits of what they called "magnetic museums." The Chrysler Museum of Art is one of the six and it should not be missed.

For a different experience, you can take a short trek from the marina to Nauticus: Featuring the Battleship Wisconsin. The exhibits, facilities and educational offerings are superb and especially fun for young learners and visitors. As a boater, you also should know about their sailing program, Sail Nauticus. Check with the dock master about pulling your dinghy or small boat into their protected slips if you’re going to visit them.

Finally, if you’re in town long enough to take in a show or a concert you must consider Chrysler Hall. Part of Norfolk’s Scope complex, Chrysler Hall is an acoustically superb and handsomely appointed venue that’s home to the Virginia Symphony, Norfolk Forum and a Broadway show series. It, too, is named after Walter Chrysler, Jr. who provided a substantial gift to assist the design and building of the hall. Click here to see a current list of Chrysler Hall events.

As a destination for boaters, or a stop along your trip north or south on the ICW, plan to spend a few days in Norfolk. It’s the old and the new all rolled up into a great waterfront that’s reinventing itself almost every day.