According to mythology, the city was built by Nauplius, son of Poseidon and Amymone. Inhabited since the Prehistoric Era, the city, according to myth, participated in the Argonaut Expedition. It was conquered by the Venetians, as well.
It has always been an important port, a fact evident by the triple protection provided by the fortress of Acronauplia and Palamidi, in the south, and the fortified Bourtzi Castle, north of the port.
Palamidi and Acronauplia are ideal sights to enjoy the view to the bay, if you are brave enough to climb the 999 (or according to another count, 875) steps to Palamidi. If you are successful, you will see Kolokotronis' cell and the church of Agios Andreas.
Finally, by boat, you may cross to impressive Bourtzi Castle, to have another view of the city, or just to visit the fort. Do not depart without seeing the Syntagma Square with the ottoman mosque and the Archaeological Museum of Nafplio, the church of Agios Spyridon (Kapodistrias was murdered outside of this church), the Komboloi (worry-bead) Museum and the beaches of Karathona and Arvanitia.