From audible.com:

Stranded on the distant planet Tschai, young Adam Reith is the sole survivor of a space mission who discovers the world is inhabited - not only by warring alien cultures but by human slaves as well, taken early in Earth's history. Reith must find a way off the planet to warn Earth of Tschai's deadly existence.

Against a backdrop of baroque cities and haunted wastelands, sumptuous palaces and riotous inns, Reith will encounter deadly wastrels and murderous aliens, dastardly villains and conniving scoundrels - and always the random beauty in need of rescue.