Visitors from the United States and Canada, including children, are required to have a passport to enter the EU for a period of up to 90 days. There are no official passport controls at any of Germany's land borders, although customs checks are becoming more frequent. Most travelers will only show their documents on entering and leaving the EU. Your passport should be valid for up to six months after your trip ends or this will raise questions at the border. EU citizens can enter Germany with a national identity card or passport. Traveling with children can be problematic. Single parents traveling with their own children rarely face any hassle, but overzealous border guards have been known to ask children about their relationship with the other parent. If you are a parent or grandparent traveling with a child, it helps to have a signed and notarized power of attorney in order to dispel any questions.
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