At Amsterdam the marina is very central, but still quiet. It is just across the ship canal from the central station, and is served by a ferry which runs every 10 minutes night and day. Taking a Pénichette® through the city's canals is simple enough with a little care, and it is the best way of all to see the place. Good news: The city council of Amsterdam decided to no longer charge passage fees for Amsterdam. Of course, there are still fees for mooring at the marinas in Amsterdam.
At Utrecht Pénichettes aft deck or classic can directly moor at the quaysides or opposite the cathedral. A plan of the city's canals and the many bridges will be given to you at the entrance lock, where you will have to pay a modest toll.
At Gouda the marina is in the middle of the old town.