The atmosphere on Venus is so dense that air acts as a lifting gas - you can fill up a spaceship with breathable oxygen and it'll float in the atmosphere. There's a narrow band of atmosphere at about 70 miles up that is 1 PSI, 1 G, and about 70-100 degrees F; relatively beautiful conditions, all things considered - especially since the surface melts lead and has such intense pressure that the atmosphere is almost a liquid. That being said, 70 miles up is probably the most habitable place in the solar system.
I'm starting a project that aims to plan out a different path for human settlements in space, that gets away from Apollo style landings on large rocky bodies, and this is the first of many conceptual images that come from that. I firmly believe that Venus is a better option for colonization, and I intend to make that happen.