Between Kielmeyerhaus and the New Town Hall (Neues Rathaus) and then up above from the Small Market (Kleiner Markt) one can discover two ways up to Esslinger Burg: the one, more difficult, with the more than one hundred steps of the castle and the other, the easier one, through the vineyards.Always choose the hard way to climb up: the gradual unfolding of Neckar valley and of the town's overview