Five European cities - Aberdeen, Ghent, Ludwigsburg, Montreuil, and Rotterdam - participated in a transition management process to develop pathways towards a low carbon future. The process involved understanding each city's current system through interviews, convening transition arenas of diverse change agents to develop long-term visions and agendas, and supporting over 30 transition projects. The arenas empowered participants, improved understanding of sustainability challenges, and sparked new networks and innovations. Key lessons included tapping into existing city dynamics, allowing sufficient time, and elevating knowledge among all involved to better guide transitions towards sustainable cities.