When you leave the main station, it is only a short walk eastwards to the Holstentor, the western city gate and landmark of Lübeck.
As Lübeck's city center is compact and small, it definitely is the best option to explore it on foot.
In addition, the "Altstadt" has been closed for private traffic to a large extent. As there are many signs with maps throughout the historic city center, it is hard to get lost.
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