The highlight of my trip to Abu Dhabi was a visit to the Shaikh Zayed Bin Sultan Al Nahyah Mosque. In addition to the main prayer area inside the mosque to repetition of lines and arches used around the perimeter is mind boggling.
This structure is truly breathtaking and rivals the Taj Mahal for the most impressive structure I've seen in person.
Abu Dhabi isn't necessarily setup for walking so you'll most definitely need to hire a taxi (which despite what you might think is affordable) to reach the mosque. It seemed that all of the taxi drivers spoke English during my trip so communication shouldn't be an issue. Ask for the mosque by name and depending on which area in Abu Dhabi you're staying the ride should cost around $10-$15 USD.
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Experiencing Traditions in the UAE
For me...this is the most beautiful mosque I have ever seen throughout my travels. Take a drive into Abu Dhabi for the day, only about an hour drive and have a life changing experience into a new culture/religion.
There is a dress code, but you can rent the gown, Dishdasha.
Don't worry about sweating. The floors are airconditioned!