There are a number of places where you can get a bird’s-eye view of this sprawling city. Try Tokyo Tower, where you can even run up 600 stairs to the Main Deck if you (or someone in your family) has some energy to burn. At Tokyo Skytree, the attached Solamachi shopping complex has cute souvenir stores, food courts, and play areas that will delight kids after you've seen the view. And if you’re feeling adventurous, you could even book a helicopter ride over Tokyo Bay for a real aerial view.

If you have any budding chefs in your crew, consider taking a family cooking class. Making ramen and gyoza, preparing sushi, or creating a cute (kawaii) bento will be a delicious experience that pays dividends, as kids can bring their new skills back with them. Learn about ingredients, chop and steam, and try your hand at new cooking techniques. At the end, enjoy the fruits of your labor, and take home enduring souvenirs: recipes that will bring back memories for years to come!

There are a number of interactive museums for children in Tokyo. Got an aspiring engineer? Try the LEGOLAND® Discovery Center Tokyo in Odaiba and check out the full room diorama of Tokyo. Is anyone an art aficionado? Don’t miss the dazzling digital art at teamLab Planets TOKYO, where images made of light dance across floors and walls. Science-minded? Peer into the future with the technology and innovation at the National Museum of Emerging Science and Innovation (Miraikan).

When it starts to feel like the steel and concrete are never ending, head for one of the best parks for families in Tokyo. These expanses of green are great for letting off steam, but also have activities. At Ueno Park, find sprawling museums, Tokyo’s largest zoo, and a pond with paddle boats for rent. Yoyogi Park, near Harajuku, is a favorite, especially during cherry blossom season. You can also head west to Inokashira Park, which has playgrounds and fields to play in, plus the Ghibli Museum.

While you’re in Japan, one Tokyo family vacation idea is to hire a local photographer for a professional photo shoot of your crew. Choose a location that’s meaningful to your family, or let the photographer guide you to the perfect atmospheric locale. You can even book a kimono plan, where a professional dresser will help you get outfitted in traditional garments and accessories for a unique and unforgettable souvenir, without having to snap quick self-timer photos during your sightseeing time.

Before it was Tokyo, the city was a castle town called Edo. Here, stoic samurai proliferated while ninjas slipped through the shadows. Learn about these historical figures with family-friendly tours in Tokyo that feature martial arts techniques, costume rentals, and even mock battles. Note that some experiences may include practice with weapons or mock weapons, such as ninja stars and swords. Although the teacher will institute safety protocols, some age limits may apply.

Another Tokyo family travel tip is to get hands-on experience in a craft class. Your young artists can learn about Japanese arts or crafts for an experience that’s both fun and meaningful—and you'll leave with a souvenir that will carry more significance than something you bought in a shop. Try painting a daruma doll, making traditional washi paper, or taking a manga drawing lesson. A bonus: Most crafts are small enough to easily pack in your luggage and take home with you.

To experience Tokyo in a new way, and to give weary kids ones a break from walking around Tokyo, consider boarding a yakatabune, or pleasure boat, for a dinner cruise around Tokyo Bay. For centuries, Tokyoites have used these red lantern–adorned boats for revelry and entertainment. See the city as dusk descends and its millions of lights wink on, reflecting on the water, then turn your attention inward for the onboard show.

Looking for outdoor adventures for kids in Tokyo? Consider taking a guided day trip outside the city to see a different side of Japan. It’s easy to get out of town in less than an hour using Greater Tokyo’s excellent and extensive public transportation system. You can hike up Mt. Takao in far western Tokyo, explore the temple town of Kamakura, or ride a boat across Lake Ashi to spend a day at the Open-Air Museum and Little Prince Museum in the hot spring town of Hakone.