Eland self-drive: In full

On arrival at Windhoek Airport, collect your hire car and get your first feel for Namibia's vast landscapes on the 45 minute drive into Windhoek city. Spend the rest of the day at your leisure; strolling around the capital, investigating the shops and craft stalls, and enjoying the inviting gardens and welcoming atmosphere at Haus Sonneneck.

Set off early as it's a long drive south, mostly on straight tarmac roads, to reach the town of Keetmanshoop. You'll travel through sprawling shrub savannah of the Southern Kalahari, dotted with occasional rural settlements of the local Nama people. Close to Keetmanshoop lies the fascinating Quiver Tree Forest and Giant's Playground which you can visit in your hire car, based from the simple yet charming Central Lodge.

Navigate your way through spectacular mountain scenery and desert steppes on the road to Fish River Canyon. Here you spend two nights to the east of the canyon, within the attractive Gondwana Cañon Park and a short drive from the main canyon viewpoint. The canyon itself is immense - look across at the magnificent cliffs and then half a kilometre down to where the ephemeral Fish River flows. The surrounding area is easy to explore on foot and in your hire car whilst staying at the comfortable Canon Roadhouse.

Today your route takes you north and west to meet the Atlantic Ocean beside the historic and quaint town of Lüderitz. Endless desert countryside gives way to coastal dunes and a rocky shoreline on which this sleepy remote town is built. There's plenty to explore independently; take a drive to Diaz Point, visit some of the town's historic buildings and discover the eerie ghost town of Kolmanskop. Plus, you may like to join one of the guided trips available such as sailing to see the African penguin colony on Halifax Island. Marine birds and occasionally dolphins can also be seen from your superb seaside location at the Nest Hotel.

Heading inland and north of Lüderitz you traverse some of Namibia's most stunning and least populated desert landscapes as you skirt the southern reaches of the Namib-Naukluft Park. This remarkable area is home to large family owned sheep farms, a number of which welcome travellers to experience their way of life by providing guest farm accommodation. You are treated to a guided farm drive this afternoon; a great way to learn about the working farm and your surroundings during your overnight stay at the homely and hospitable Dabis Guest Farm.

Beautiful desert scenery continues to unfold before you as you drive north along rural roads to the heart of the Namib-Naukluft Park. Three nights here provides a wonderful opportunity to explore the area in your hired vehicle, or join activities with a lodge guide if preferred. An early rise to visit the towering apricot dunes of Sossusvlei and Dead Vlei is an unforgettable highlight; venture into the cool depths of Sesriem Canyon; and spend a day hiking through the contrasting lush ravines, streams and waterfalls within the Naukluft Mountains. Each night the barking geckos will lull you into a comfortable sleep whilst staying at Desert Homestead.

Dunes, mountains, canyons and vast desert plains all feature in the long but interesting drive to meet the Atlantic Coast at the port town of Walvis Bay. From here you head up the coast to Swakopmund, where colonial charm, great shops and restaurants, museums, galleries and an attractive waterfront combine into Namibia's premier seaside resort. You won't have a shortage of things to see and do during your two nights here. Try kayaking, a boat cruise, sand-boarding, or a superb day-trip to Sandwich Harbour - to name just a few options. Beach walks are also lovely from your sea front setting at Beach Lodge.

It's a varied drive today to reach Damaraland, starting up the Skeleton Coast and then inland through communal farmland to a region of breathtaking plateaus, granite outcrops and river valleys. Nomadic Bushmen once roamed this countryside; leaving their mark in the form of rock engravings dotted around the sandstone slopes of Twyfelfontein. Visit this heritage site, plus the geological formations of Burnt Mountain and the Organ Pipes easily in your hire car. An optional guided 4WD nature drive along the ephemeral river valley, where you may be lucky enough to see desert adapted elephant if they are in the area, is another memorable way to spend your two nights at the uniquely designed Camp Kipwe.

It's time for the serious game viewing to begin as you journey into Etosha National Park. This enormous wildlife reserve, now spanning 22,270km², was first declared in 1907. In its centre, the expansive silvery-white Etosha Pan is one of Africa's most dramatic backdrops for game-viewing. Drive around at your own pace, stopping to watch and photograph. In the evenings, observe more animals interacting as they come to drink at the floodlit waterhole beside Okaukuejo Camp.

Meander slowly eastwards through the park, following a network of sandy roads and stopping off at waterholes and game sightings along the way. Your destination is the middle of Etosha National Park where you will stay two nights to enjoy more exciting game drives from your base at Halali Camp.

Spend much of the morning game driving in Etosha before exiting the park and heading south into the Central Highlands. Here, a private farm has transformed into a wildlife reserve which is also home to the AfriCat Foundation. Research and rehabilitation of Namibia's predators, such as leopard, cheetah and spotted hyena, is the focus here. Joining an optional guided activity to learn about the foundations dedicated work and to hopefully see some of the magnificent predators up close is a great highlight to conclude your safari adventure. You may also see nocturnal animals such as porcupine at the night-hide during your overnight stay in one of the original 'garden rooms' at Okonjima Main Camp.