Exploring London on foot is a fantastic way to get an intimate perspective of the city, but navigating can be overwhelming for first-time visitors. Simplify your sightseeing with a guided small-group walking tour. Spend around three hours walking between the attractions of Westminster, including Trafalgar Square, Big Ben, and Buckingham Palace—some tours even see the Changing of the Guard. Then go inside the Tower of London with an informative audio guide.