By: Rosalind Cummings-Yeates | From: AARP

The diverse beauty of the U.S. landscape inspires many people to hikewalkbike or just gaze at the scenery up close. The National Park System (NPS) supplies plenty of opportunities to connect with this country’s natural wonders. However, you don’t have to be able to scale mountains or walk miles to enjoy them. Traveling to the wilderness isn’t the only way to enjoy a national park, you can also visit a city-based park.

An overlooked aspect of NPS is the historic and cultural parks that honor not just the outdoors but also the significant sites that reflect American history. These parks don’t require advanced mobility or even traveling great distances since many are in easily accessible cities. Accessibility is important as 14 percent of travelers 50-plus say they need accommodations for a disability, with 78 percent of those needing accommodations for mobility, according to a recent AARP travel trends survey.

Whether you’ve always longed to visit a national park but didn’t think you could tackle it physically, or even travel the distance required, these parks offer accessibility and manageable travel for most people. Here are five NPS park sites tucked into the heart of cities that deliver just as much excitement as bigger, rural parks.

4. San Antonio Missions National Historical Park

The San Antonio Missions National Historical Park preserves four of the five Spanish frontier missions in San Antonio. (The fifth is the Alamo which is preserved separately.) The park stretches 12 miles and contains the 18th-century Spanish colonial missions of Concepción, San José, San Juan and Espada. The Spanish colonial architecture and frescos date back more than 250 years and represent the mingling of Spanish and Indigenous cultures.

Aqueducts, a nature trail, a ranch and operating churches with regular Catholic services can be found at various missions. The visitor center, in Mission San José, has a museum, and features a park film, a gift shop and a guided walk with rangers.

Each of the park’s missions are partially wheelchair accessible but rough terrain and steep stairs cover some areas. The ranger-led tours at Mission San Jose are on paved paths. Admission: Free.

Can’t miss: With so much history to explore, the free ranger-led tours, which run three times a day, are indispensable. You’ll learn about how Indigenous people created the mission frescos.