Drive from Gauteng to Pilgrim’s Rest, allowing four to five hours for the journey – plus one more if you break for an early lunch at the pretty highland town of Dullstroom. Dedicate a full afternoon to exploring the restored highlands gold rush village of Pilgrim’s Rest – highlights include the Victorian House Museum, Diggings Site Museum and Robber’s Grave. Dine on hearty fare such as oxtail potjie (a slow-cooked stew) at the Victorian-styled restaurant at the Royal Hotel (royalhotelpilgrims.co.za).

Spend today exploring the Mpumalanga Escarpment. A good morning route leads through Graskop north to God’s Window viewpoint, Lisbon Falls, Bourke’s Luck Potholes and the Three Rondawels viewpoint over the Blyde River Canyon. Return to Graskop for a sweet or savoury lunch at Harrie’s Pancakes, then head south to explore the half-dozen waterfalls in the vicinity of Sabie. Return to Pilgrims Rest, stopping for a typical South African dinner at Graskop’s Grass House (082 9487776).

Allow an hour to drive the 80 km (50 miles) via Graskop and Hazyview to Kruger National Park’s Phabeni Gate. Stretch your legs at the Albasini Ruins, then enjoy a relaxed two-hour game drive to Skukuza Rest Camp. This is Kruger’s largest rest camp and makes a good spot for lunch. Allow at least three hours for the 45-km (30-mile) drive from here to Lower Sabie, along a road that follows the Sabi River – it usually offers excellent Big Five viewing, so keep your eyes peeled. Overnight at Lower Sabie, admiring the sparkling African night sky over a barbecue.

Rise early for a morning game drive to Crocodile Bridge, keeping a careful lookout for lion activity. The best loop follows the main surfaced road south (stop at Crocodile Bridge for coffee) then returns via one of the unsurfaced tracks to its east. Be on the watch for rhinos, which are renowned in this part of the park. An excellent short afternoon drive is the scenic loop to Mlondozi Dam and Picnic Site. After an early dinner at Lower Sabie’s cafeteria-like restaurant, join an organized night drive in search of genet, bushbaby and other nocturnal creatures.

With the earliest possible start, allow at least five hours to cover the 100-km (60-mile) road from Lower Sabie to Satara, stopping to look for wildlife at Eileen Orpen Dam, and for breakfast or brunch at Tshokwane Picnic Site. The plains around Satara attract large herds of wildebeest and zebra, and are also good for cheetah and lion. Look out for them during a four-hour afternoon game drive to Nwanetsi, looping out along the main surfaced road and back on the dirt S100. Listen out for lion and hyena as you barbecue outside your hut at the Satara rest camp.

Drive north to Olifants Camp, following an untrammelled and mostly unsurfaced 70-km (45-mile) back road via Nsemani Dam, with stops at Timbavati Picnic Site (a great breakfast spot) and Nwamanzi Viewpoint. Have lunch at Olifants Camp, enjoying its spectacular views over the Olifants River – a major wildlife magnet. Once the heat of the day dissipates, allow three hours for the 55-km (35-mile) drive back to Satara on the main surfaced road. Wind down with an alfresco dinner at Satara’s restaurant.

Make your way out of the park along the 50-km (30-mile) road west to Orpen Gate – it’s best taken at game drive speed, as there’s a fair chance of spotting lion, cheetah and rhino. Allow another two hours to get to Graskop for lunch. Drive the 400 km (250 miles) to Johannesburg, or fly there from Mbombela. Relax after a long day of travelling with dinner at one of the city’s many excellent restaurants.