Bruges will take one day. As would Ghent, or Brussels, or probably Antwerp.

http://www.flickr.com/photos/mksfca/sets/72157622960079007/show/

http://www.flickr.com/photos/mksfca/sets/72157622960216715/show/with/4256354538/

I am not sure that a car makes sense. Everything is very close and train travel is frequent and efficient.

Another question. Is the drive from Bruges to Den Hague via the "coast" very scenic? We do love scenic drives in addition to the other things I mentioned.

Brussels - 1 day I love Antwerp and could spend a week or more there Brugges I give it 3 days at most. Why drive?? Train is cheap and fast and you don't need a car in those 3 places!

A long time ago I drove from Bruges to the Netherlands. We were on a dirt track along a canal and missed the border control that still existed in those days. But the drive was not particularly scenic; nice canal in a very flat landscape.

Do you mean you are driving from Den Hagg each day? Or you are going to Belgium for three days then back to Den Hagg?

I agree train would be preferable to car - very efficient, quick and inexpensive and you wouldn't need to deal with parking which looked like it would be a major PIA in any of those cities.

I would pick one and day trip to the others. They are all like a half hour, forty five minutes apart. I loved Brugge and Antwerp, Ghent was under major construction (and mud) when I was there last summer, but it does have some beautiful buildings. I agree with most of the posters here who think Brussels is just 'eh'.

Here's my trip report from my three days in Belgium last summer - http://www.fodors.com/community/europe/the-low-and-very-wet-countries-luxembourg-belgium-and-the-netherlands.cfm

Thanks all. OK, we'll certainly consider taking the train instead of a car! (isabel, no we're not day-tripping from Den Haag, we're leaving from Den Haag for 3 days and then returning there; our son and daughter-in-law live there).

I loved Brugge, liked Antwerp, regret not stopping in Ghent, and thought Brussels was meh. I think I stayed 1-1.5 days in Brussels and that was more than enough for me, I would have been fine with half a day. I did 2 nights in Brugge and was entertained the whole time. I just did a day trip to Antwerp on my way from Amsterdam to Brugge and found it interesting.

You could base yourself in Ghent, half-way between Bruges and Brussels. It's a commuter ride to either city.

Michael, my husband suggested that, and it certainly would be easier than changing hotels every night.

I think four cities in three cities is too much. Even one day per city is pushing it IMO.
I disagree with the "meh" rating for Brussels above. I posted a TR for our stay in Belgium (based in Brussels) in late 2011. It describes things to do in that city, which has much more to offer than the Grand Place and the Mannekin Pis, and in Antwerp.

Train travel in Belgium is very easy

Staying in one city makes alot of sense! more time for fun, less time packing and unpacking!
Ghent would be central, and easy train rides to any city... BTW Weekend fares are cheaper, and if you happen to be over 65, your ticket is only 5Euro R/T, to just about any city in Belgium!

Brussels is good for a day.I would recommend the Jeu de Balle Flea Market, as it becomes a history lesson and a cultural experience all it's own! They are open every day, about 7:30 am til about noon or 1 pm. If you're coming in by train it's an easy walk from the Midi/Zuid Station.
From the Flea you can walk up to the Sablon area- with the most wonderful chocolate shops!

Then head on down to the Grand Place.. it's beautiful!
A stroll thru Galleries St Hubert, and a beer at the Mort Subite! And take the train at Centraal Station back home.

You can pick up a good City map at the Midi Station. Also if you choose to stay in Ghent or any city, the Tourist Info Office had tons of good stuff. The Use-it guides are fun!

Sf:
I found the 17th century Reubens Huis museum in Antwerp to be quite different. It stresses the artist at work..not your typical art museum. It's an easy walk from the train station. The "Diamond Land" museum (no samples!)is also informative and that's in the heart of the Chassidic district, also a short walk from the train station, with many little kiosks of diamond dealers along the way on Pelikanstraat. Nearby is the comfort-food Jewish resto ("Hoffy's")..if you've not had varnishkes lately, try 'em here!.

May I suggest a favorite lodging of ours in Brugge if you decide to stay overnight. It's on the "Minnewater", an idyllic area of town. Hotel Egmond. It's a rare "stand-alone" situated amid its own gardens. Rates are less than $150 if I recall with an enormous bkfst.

Brussels not quite as dull as others would have you believe..at least it wasn't to us. Visit the Grand Sablon upscale area (chcocolate shops galore). The intact 1875 synagogue is on Regence, saved by the heroic Queen who insisted to the occupiers that it be left standing. In the Grand Salon district, dinner at Le Grande Mayeur which features Balkan ambience, fare and music.

Have a nice visit with the kids.
Stu

Brussels + Ghent + Antwerp + Bruges is easily a 10-14 day trip. That is NOT "slow traveling" by any stretch. It's mid-range, mid-spectrum, normal.

To split your time among those four cities with only 3 days...
Stay in one (Gent is most central as mentioned) and do three separate day trips to the other three. That's all that works logistically.

My advice, feel free to ignore, would be to stay in Antwerp and do one long (12 hours door-to-door from hotel) day trip to Bruges.