Embark on a short bus tour of Tana this morning. With bustling markets and a hilltop ancient town with freestone churches and old royal places, it is unique among world capitals. We then drive (four to five hours, including a one-hour stop) to Andasibe, arriving around 3pm, where we visit the community-run Vondron’olona Miaro Mitia Ala Reserve. Here, we hope to see groups of the teddy bear-like indris in their natural habitat, while their white-headed relatives, diademed sifakas, jump between the treetops. There are also countless frogs along the crystalline river and several forest-dwelling chameleons. In the early evening, we take a twilight/night walk and look for nocturnal lemur species. Accommodation: Sahatandra River Hotel (or similar)

Explore Andasibe National Park (also known as Perinet) on a four-hour wildlife walk, which covers around 3mi (5km) with a maximum ascent of 230ft (70m). The park is home to indri, the largest lemur in Madagascar, plus other flora and fauna and a wide array of birdlife. Listening to the piercing yet melancholy cry of the indri in the morning is an evocative sound; for those prepared to follow them through the thick rainforest, the reward is often a close-up view. A group of five diademed sifaka have recently been re-introduced to Andasibe and we may spot one of these unusual creatures if we are lucky. We return to Tana (four to five hours, including one-hour stop) in the afternoon. Accommodation: Hotel Belvedere (or similar)

Depart early to catch a flight west to the coastal town of Morondava, known for having one of the finest climates in Madagascar. We then pick up 4×4s in the afternoon and drive (one hour) to the Alley of Baobabs, where ancient baobab trees line an unpaved road known as the most scenic in the country. We then drive (one hour) on a dirt road to Kirindy dry forest reserve where we spend the night. Accommodation: Relais du Kirindy (or similar)

Visit Kirindy Reserve, home to giant jumping rats, seven lemur species and the fossa, an endemic creature that looks like a cat-weasel cross. Then we then drive (nine hours) on a dirt road to Bekopaka, passing baobab forest, which we stop to visit, desert and local villages, with a ferry crossing (one hour) over the Tsiribihina river. The western landscape is arid but beautiful. Accommodation: Olympe de Bemaraha (or similar)

Depart early to Tsingy de Bemaraha National Park. A World Heritage site since 1990, it is best known for its forest of limestone pillars, some up to 165ft (50m) high. The karst landscape and deciduous forest are a refuge for rare and endangered species and there are more than 11 types of lemur, 90 bird species and 50 reptile species, some of which we might be lucky to spot. Our hike takes us to the Grand Tsingy, a 3.5mi (5.6km) circular route that takes about five hours (with photo stops). We’ll hike up and downhill, over rocks, through the forest canyon, and across a hanging bridge. Along the way, we need to embrace our adventurous spirit to tackle some rock scrambling, ladders, crawling, and sliding into caves. A proper adventure! We also offer an easier walk to the Small Tsingy (€35) if you’d prefer. In the afternoon, we head back to Bekopaka and relax at the hotel, perhaps with a swim at the pool. Please note, while our time here is a highlight for most, it involves a demanding walk. Those who suffer from vertigo and/or claustrophobia may find parts of the trek challenging. In some places, we go through caves and narrow chasms; harnesses are used for the more challenging parts of the climb for safety reasons. Accommodation: Olympe de Bemaraha (or similar)

Return south after breakfast, taking 4x4s to Morondava by road (10 hours) and ferry (one hour) with plenty of stops en route. We pass by Sakalava tribe tombs along the way, known for the unusual paintings and carvings that decorate the outside of each. We stop at the Alley of Baobabs again where we plan to spend sunset. This is the best time to see these amazing trees as the colours are spectacular, a perfect photo opportunity. After sunset, we spend the night in Morondava. Accommodation: Renala au Sable d’Or (or similar)

Today is our longest travelling day with a drive time of approximately 12 to 13 hours, including stops. We pass through the fascinating scenery of Betsiriry Plateau and the savannah plains, plus many villages along the way. We arrive by early evening. Antsirabe is at an altitude of 4,920ft (1,500m) and has a cooler climate. The warm springs and thermal baths here were a real draw in the 19th century. Accommodation: Chambres du Voyageur (or similar)

We start with a sightseeing tour of Antsirabe, including a visit to craft centres. From here, we drive (10 hours, including stops) to Ranomafana. With rainforested hills and abundant wildlife, Ranomafana National Park has long been considered one of the highlights in Madagascar and is one of the most visited national parks in the country. The entrance lies about 4mi (7km) from Ranomafana village. In addition to densely forested hills, the terrain is characterised by numerous small streams, which plummet to the beautiful Namorona River. Although much of the region has been logged, the easternmost part of the park retains relatively large areas of primary forest. Accommodation: Centrest Hotel (or similar)

Spend the morning (approximately five hours) exploring Ranomafana National Park with our tour leader and a local guide, hoping to spot golden bamboo lemurs, which are unique to this park, plus other lemurs, including eastern woolly, red-bellied, grey bamboo and red-fronted brown. This park is also home to other mammals including tenrecs, bats, mongoose and the Malagasy striped civet. In the afternoon, we visit Ranomafana village, where we see typical Tanala tribe houses and the public thermal bath. The evening is spent on a night walk along the roads in the hope of spotting nocturnal lemurs, chameleons and other animals. Accommodation: Centrest Hotel (or similar)

The scenery changes dramatically today as we drive to the small town of Ranohira, a journey of approximately 11 hours, including stops. We stop in Ambalavao to visit Anja National Park along the way, a small reserve where several families of ring-tailed lemurs can be seen in the wild. Accommodation: Isalo Ranch (or similar)

Spend the day exploring Isalo National Park, a vast region of wind-polished and water-scoured rock towers, deep canyons, gorges and oases often described as Eden. If the conditions are right, we hike in the magnificent Canyon des Makis in search of cheeky ring-tailed lemurs and the Verreaux’s sifaka. We also visit the Piscine Naturelle (natural swimming pool), a beautifully lush spot within an arid landscape, where we can swim and relax. The combination of coloured rock formations, strange plants and enveloping silence make this one of the most captivating places in Madagascar. Please note, Isalo is a big national park. The total hiking distance is around 5.5mi (9km) and there is some driving involved – a 4x4 transfer to the Canyon des Makis takes around 1hr 30min to two hours. Accommodation: Isalo Ranch (or similar)

We drive to Tulear, among the dry forests of the west and the spiny desert of the south, and we pass both the Mahafaly tombs and the Antandroy tombs, briefly observing their ornate decorations. Antandroy and Mahafaly are reputed to be the most impressive of all Malagasy tombs, with the Antandroy tombs large and brightly painted, relating to the life story and wishes of the deceased. They are also topped with the skulls of zebu sacrificed during the funeral festivity, a ceremony of great significance. Mahafaly tombs are characterised by their wooden sculptures known as aloalo, relating to the life of the deceased and their unfulfilled dreams, as well as their rank within the clan. After a brief stop in Tulear, we continue past the coastal town of Ifaty to Ifaty beach where we spend the night. Our total drive time today is eight hours, including a one-hour stop. Accommodation: Hotel de la Plage (or similar)

Today we have a free day. Running all the way around the southwest Malagasy coastline, Ifaty beach lies on one of the largest barrier reefs in the world and is an excellent venue for scuba diving. Between late June and early September, whales swim off the beautiful white beaches and the offshore islet of Nosy Ve is a terrific place for snorkelling. Protected by coral reefs, the beach and waters beyond the hotel offer a welcome place to rest. Accommodation: Hotel de la Plage (or similar)

Today we transfer to Tulear airport for our flight to Antananarivo, which typically arrives in the afternoon. Depending on the flight schedule, you may have free time to explore Antananarivo on your own. Accommodation: Hotel Belvedere (or similar)

The adventure ends in Tana today and we begin our return journeys home. If you have time before your flight, you may wish to embark on an optional short visit to Ambohimanga, the fortified village and its royal palace. Ambohimanga, otherwise known as Blue Hills, was once forbidden to Europeans; the local kings and queens returning to this hilltop village to rest and relax. From here began the line of kings and queens who united Madagascar into one country. Ambohimanga remains of spiritual significance for the Malagasy people with ceremonies and rituals still taking place here.