• Before I had kids, I didn't put much thought or prep into my travel plans.
• A few encounters while abroad have made me change my ways now that I often have kids with me.
• I now travel with apostilled copies of their birth certificates and a letter from their father.

Before kids, I traveled the world alone with nothing more than a backpack and a worn guidebook. I rarely made plans in advance and enjoyed the spontaneity and surprises that were a part of globetrotting without much advance planning.

Once I started traveling with my children, that approach seemed irresponsible and, at times, downright dangerous. Now, I put a lot more care and thought into my trips before leaving home.

As someone who has taken my kids to 30 countries on six continents, I've found that a little advanced planning goes a long way. Here are the four steps I always take before traveling with my kids to help ensure that our trips go smoothly and that we all stay safe.

I always look up the emergency number for wherever we are.

Once, while driving in Canada with my kids, I got lost in a dark, industrial neighborhood at night. No one was around, and I started to feel uneasy, unsure if anyone was lurking in the shadows.

At home, I knew I could call 9-1-1 for assistance in an emergency. However, as my panic level started to rise, I realized I didn't know who to call for help in Canada. (I've since learned the number to dial is actually 9-1-1, but that's not the case for most other countries.)

Eventually, I found my way back to civilization, no worse for wear. However, now I always look up the emergency number to call when I land.

On a subsequent trip to Paris, an Uber began veering wildly off course. It turned out the driver had detoured due to construction, but I was glad I knew to dial 1-1-2 instead of 9-1-1 if I thought my kids were in danger.

I double-check that my health insurance covers us wherever we are going

When I was young and reckless, I assumed I would never get sick or injured, especially on a trip. In hindsight, I was remarkably lucky that I never caught more than a mild case of Montezuma's Revenge abroad.

After a health scare on a trip to Jamaica, I no longer take any chances. Midway through what was supposed to be a relaxing trip, my son developed a fever and started vomiting. The resort where we were staying called a doctor who suspected appendicitis. I panicked, wondering if our insurance would cover a pricey operation or medical evacuation.

Fortunately, my son recovered quickly with an antibiotic, but now I always double-check that our health insurance will cover us abroad, including to far-flung destinations like Antarctica. If not, I will look into buying travel insurance that will cover medical care and evacuation. Before travel, I also check that my children have all the recommended vaccines for our trip.

I always pack my children's birth certificates

My first trip abroad after becoming a mother was to a destination wedding in the Caribbean. I was allowed in easily with my infant son strapped to my chest. However, leaving was not so easy. When trying to return home, a border guard questioned me extensively, asking for proof that I was the baby's mother. I managed to convince the agent that I was indeed my son's mother, but the situation rattled me.

To avoid a similar issue, I now carry official copies of my children's birth certificates when we travel abroad. For good measure, I had the documents apostilled by the Secretary of State for Washington, DC, where they were born. An apostille is a type of verification similar to notarization, but it is recognized in more than 125 countries worldwide, making it a better choice for international travel.

Although this may seem like overkill, I have been asked for proof that my children are mine twice, once when entering the United States and once when entering the U.K. Although I likely could have proven my children are mine without these documents, I don't want to take any chances, and having them on hand made the process much easier and faster.

I get a notarized letter from my children's father stating that I have permission to travel with them

Although my husband and I are happily married, his demanding work schedule often leaves me traveling solo with our kids. On several occasions, immigration officials have asked me for proof that I had my husband's permission to take my children abroad.

Once, I was asked for the same documentation when returning to the United States. Now, I always carry a notarized letter of consent signed by my husband. I use a free template I found online and update it with the specific dates and location for every trip, then I take it to my bank to have it notarized for free before we go.

Although carrying additional documents can be a pain, I remind myself that additional paperwork is for my children's protection because it helps combat child trafficking and kidnapping.

• There are a few mistakes I wish I'd avoided before and during my family's trip to South Korea.
• I wish I had planned more hikes, purchased a transit card sooner, and spent more time outside Seoul.
• Looking back, I wish I'd taken more time to learn about local history and music.

When I was planning my family's summer trip to Japan, a stop in South Korea wasn't originally part of the itinerary.

However, when I found a great deal on premium-economy tickets to Tokyo with a layover in Seoul, I decided to extend our stay in South Korea's capital and spend five days exploring the city.

My children and I ended up loving South Korea, but our trip probably would have been better if I'd avoided these five mistakes.

We should've sought out more hikes and planned experiences within nature.

Seoul is an energetic, bustling city. Before the trip, I had assumed we'd spend most of our time visiting urban attractions and learning more about the flashy local Gangnam Style.

However, the mountains and natural beauty in Seoul made a bigger impression on me than anything else in the city.

By sheer luck, I'd booked a stay at a hotel right by Namsan Park, a massive forest in the mountains inside city limits. My family took two long, unplanned hikes in the park — and they turned out to be some of the best parts of the trip.

Although I'm glad we stumbled upon this urban oasis, I wish I had been more intentional about planning to explore more natural attractions in and around Seoul during our visit.

Our itinerary didn't include enough trips and experiences outside Seoul.

During the trip, my family explored Seoul's ancient palaces and steeped ourselves in K-pop culture. We walked laps around Seoul's trendy Myeong-dong neighborhood, eating Korean street food, hunting for K-beauty finds.

We left Seoul twice for day trips to the Demilitarized Zone (DMZ) between North and South Korea and to visit K-drama filming locations.

Since South Korea wasn't our final destination, I thought five days would be enough to get a feel for the country.

It certainly felt like enough time to explore Seoul, and I loved my time in South Korea — but I left wishing I had more time to explore the country beyond its capital.

For example, I would've loved to visit the volcanic Jeju Island or the beaches and mountains in Busan.

Learning a bit more about local history and culture would've enriched the trip.

When I travel, I usually make it a point to learn more about the place I'm visiting since doing so always enriches my experiences.

However, once I landed in Seoul, I realized how little I really knew.

For example, I wish I'd taken more time to learn about the Japanese occupation of Korea and the Korean War. There are echoes of these events everywhere, and families in Korea remain divided between the North and South.

I also wish I'd become more familiar with popular local bands and listened to more K-pop before I landed. This music is a vital part of Korean culture, and ads with K-pop bands and signs wishing a K-pop star a happy birthday were all over Seoul during my visit.

It would've been cool to understand and appreciate these references … and maybe even sing along to some local hits.

It took us a little too long to embrace local convenience-store culture.

Convenience stores are ubiquitous in Seoul, and the ones we encountered were nothing like the ones back home, which often feel like a last resort for a grab-and-go bite.

Here, convenience stores are staples for a reason. I was impressed by the wide variety of affordable meals, snacks, and beverages on offer in these stores — and by the fact that many of them had seating areas.

By the end of my time in South Korea, I had grown accustomed to eating quick, low-cost, delicious (and sometimes even healthy) meals at a table inside a convenience store with my kids.

Doing something like this is nearly unheard of in the United States, and I wish I had embraced this quintessentially Korean habit much earlier. That way, we could've saved some money on food and efficiently tried even more local favorites.

Getting a transit card at the airport would've saved me money and headaches.

For most visitors, Seoul's extensive public-transportation system is the best way to get around the city. However, using it came with some unexpected challenges.

On my first full day in Seoul, I wanted to take the bus. However, I found that I had no way to pay since physical transit cards aren't sold at bus stops and buses don't accept cash or credit cards.

I got where I wanted to go by taking an Uber instead. Paying a few extra bucks wasn't the end of the world, but I love taking public transportation when I travel, and wish I'd been better prepared.

Even though I was exhausted when I landed in Seoul, I should've taken a few minutes to buy a transit card before leaving the airport to make using public transportation easier.

After I picked one up partway through my trip, getting around the city was easy and affordable. (The card I purchased is "Squid Game"-themed, which also makes it a cool souvenir.)

• I took a group tour of Japan with my kids, and Hakone turned out to be my favorite stop.
• The beautiful town had amazing hot springs, and the Hakone Open-Air Museum was incredible.
• If I return to Japan, I'd go to Hakone again and I'd love to visit other small towns in the country.

Visiting Japan has been on my bucket list for a long time, and I finally booked a trip after relentless pleas from my children — and reading about how the US dollar is strong against the Japanese yen.

To simplify planning, I booked a family tour through Intrepid Travel. Unsurprisingly, the tour went to Tokyo and Kyoto, popular tourist destinations that draw many visitors (including my family) to Japan.

However, the tour also brought us to some places I may not have found on my own, including the quaint, quirky mountain town of Hakone.

Visiting the town, which is southwest of central Tokyo and about a 90-minute railway ride away, turned out to be my favorite part of the trip.

We loved the town's famous hot springs

Hakone is full of onsens, or natural hot springs, heated by geothermal activity happening beneath Japan. During my visit, I got to experience several types of onsens — and I still dream of sitting in their soothing waters.

First, I tried a bucolic onsen overlooking the mountains, which were lush and green when I visited during the summer. Lounging in a naturally fed hot spring from the top of a mountain allowed me to slow down, relax, and appreciate the beauty of Japan outside of its big cities.

I also tried a traditional onsen, which was segregated by gender and required visitors to disrobe completely. As an American, I'm not used to bathing naked with strangers, but I didn't want to miss this quintessential Japanese experience.

Although I didn't stay long, it was eye-opening to see how this tradition, so different than my own, quickly helped me feel more comfortable in my own skin. This is something I would not have experienced if I had not gone to Hakone.

Finally, my kids and I tried a series of themed onsens at Yunessun, a hot-spring theme park, which was one of the quirkier experiences I have had while traveling.

There, I hopped into an onsen shaped like a ramen bowl, complete with blow-up toppings. My kids joked that we were experiencing what it felt like to be cooked on a stovetop.

I also got to try unique baths, including one filled with coffee and another containing wine. My skin felt smooth and soft when I left.

Our trip featured some unique activities, including a visit to a mind-blowing sculpture garden

Although my children don't always share my affinity for looking at paintings and sculptures, they agreed to accompany me to the Hakone Open-Air Museum.

Beyond its gates, we found larger-than-life interactive sculptures unlike anything we've seen at traditional art museums.

As we walked through the museum's gardens, we hopped through rainbows, climbed to the top of a stained-glass tower, and walked underground to peek up at the sky from below.

My children even swung on colorfully knitted balls hanging from an elaborate net, seemingly suspended from the sky.

Near the exit of the gardens, I sat and soaked my feet in a hot-spring footbath while gazing out at the surrounding forest. I wish that every large attraction had something similar at the end.

Fortunately, there were many other unique and fun things for us to do in Hakone.

While there, I ate one of the town's famous black eggs, which had been transformed from their original white after boiling in a sulfur-rich hot spring. Legend has it that eating one of these adds seven years to your life — I devoured every morsel.

We also got a glimpse of Mt. Fuji from the Hakone Tozan Railway and rode on a pirate ship to get a fantastic view of Hakone's bright-red Torii Gate standing in a lake.

Hakone was a wonderful stop on our trip, and I'd happily return

During our time in Hakone, we stayed in a ryokan, a type of traditional Japanese inn, and were able to explore a lot of the relatively small town on foot.

Along the way, we wound through mountain roads dotted with small restaurants and shops, a welcome reprieve from the heat of the bigger cities we had visited earlier in our trip. We even took some time to hike along Hakone's lush forest paths.

Although it's easy to see the appeal of Japan's bigger cities like Tokyo, Kyoto, and Osaka, if I ever return to the country, I would spend more time in Hakone and seek out other small towns.