Having an adventure needn't mean roughing it, in the same way that a luxury break doesn't have to revolve around lounging by the pool. Here are 13 adventurous escapes that can be done in comfort, whether you're looking out for lions in Namibia or kayaking through the Canadian wilderness.

The Amazon rainforest is like nowhere on Earth. The five and a half million square kilometers of jungle are home to one tenth of the world's biodiversity, including species such as jaguar, cougar, anaconda and scarlet macaw.

One way to see the area in style is on a luxury river cruise, which will stop along the way for excursions into the jungle.

Aqua Expeditions' 16-suite ship, the Aria Amazon, comes with a hot tub, gym, sun deck and floor-to-ceiling windows so you can take in the views as you drift down the Peruvian stretch of the river. 

Very few of us will get to explore Everest in our lifetime, but it is possible to see the world's tallest peak without an ounce of mountaineering expertise. On a private helicopter tour with Steppes Travel you'll fly to eight Himalayan base camps, all more than 8,000 meters high, including Everest. 

Also on the itinerary are visits to a Sherpa community and the ancient temple complex of Boudnanth. You'll be traveling in the company of Tashi Tenzing Sherpa, whose grandfather, Tenzing Norgay, reached the summit of Everest with Sir Edmund Hillary in 1953.

For keen divers it doesn't get much better than a liveaboard boat, and Dive Worldwide offers the experience close to the Indonesian island of Sulawesi, where pristine reefs, drift dives and caves are among the underwater attractions.

You'll stay aboard the Pelagian, which has boutique-style cabins, plus gourmet food and wine.

Spend summer nights in a place where the sun never sets: Svalbard, in far-north Norway. There are polar bears and walruses to spot, boat trips to take and saunas in which to warm up.

Simply Sweden organizes trips to Svalbard, with nights spent in boutique accommodation, including Basecamp (pictured).

It has long been possible to reach Machu Picchu by Belmond's Hiram Bingham service, which comes complete with 1920s carriages and an open-air observation car, but you can now spend the night aboard the company's new sleeper.

On the Andean Explorer (pictured) you'll find double beds and Peruvian-inspired design.

There are several routes to choose from, with stops including Lake Titicaca, Cusco and Arequipa (pictured).

Botswana is the home of luxury safaris; the tourism industry is almost exclusively focused on the high-end market, so you're spoilt for choice. Sanctuary Retreats' Chief's Camp, in Moremi Game Reserve, has recently had a refurb, with the 10 new guest pavilions overlooking the Okavango Delta. 

Daily game drives and excursions in a mokoro boat are included, with elephants, buffalo and antelopes often spotted along the way.

The Tour du Mont Blanc takes you on and around Europe's second-highest peak rather than up to the summit, so you can stay in smart hotels en route, rather than rough-and-ready mountain huts.

Mountain Travel Sobek's Mont Blanc hiking tour takes you into France, Italy and Switzerland, through forests and villages, and past waterfalls and glaciers.

Visiting Antarctica involves a serious time commitment, so travelling in style can make the whole experience that bit more comfortable. Several companies offer luxury cruises, including Tauck, which has small ships with on-board naturalists to talk you through what you're seeing.

Keep an eye out for wildlife such as penguins, seals and seabirds, as well as huge glaciers.

Forget sharing the ski-lift with strangers; for real powder hounds it's all about heli-skiing, where you're transported to your dream slopes by chopper.

Ruby Mountains Heli-Experience will fly you into Nevada's Ruby Mountains for a backcountry skiing experience on untouched powder, and you can then spend the night at the new Ruby 360 Lodge, which opened earlier this year, with perks including panoramic views and a bar.

Ever wanted to bed down in the middle of the desert? Hoanib Skeleton Coast Camp, in Namibia, is so remote it's accessible only by private plane.

There are just eight luxury tents, each with an outdoor lounge area where you can look out on to the surrounding Namib Desert and look out for elephants, lions and more. Available through Gane & Marshall, the camp also has a bar, library, pool and sundeck.

Vietnam is known for its motorcycles, but it's also a great place to explore by pedal power.

Butterfield & Robinson runs a cycling tour that includes high-spec bike rental, luxury overnight accommodation such as the Banyan Tree Lang Co (pictured), and gourmet meals to fuel you up for the next day's ride.

One of only two places where you'll find orangutans in the wild, Borneo's jungles are ripe for adventure. A trip here with Epic Tomato starts with a light aircraft flight into Long Seridan, followed by a guided multi-day trek through Sarawak and Mulu National Park.

There aren't always existing trails, so you might find yourself beating your own path through. Porters will be on hand to help with your luggage and set up camp along the way.

Work up a sweat paddling through British Columbia's Discovery islands, safe in the knowledge you'll have a comfortable cabin to come back to, complete with beds, fine dining and a wood-fired hot tub.

On a trip with Go With the Flow, your sea kayaking guide will leads you out to different wilderness spots and marine parks each day before returning to the lodge on Maurelle island.