Unless they've changed something recently, you can't go back. The docks that you arrived on in the city do have bells, but they are there for travel to other places. One will say "Travel within (your city here)" and will take you to other housing districts in the city. The other says "Travel outside (your city here)" and takes you to some common fighting zones (the Qeynos one takes you to Antonica, Oakmyst Forest, and the Caves).