Meet your personal guide, certified under Britain's rigorous Blue Badge system, at your choice of time and location: a typical tour begins at Westminster.
Your first stop on this itinerary is Big Ben, the 19th-century clocktower that's a London icon: your guide will explain the history of both Big Ben and the Houses of Parliament as you admire their reflections in the waters of the Thames. From here, it's a quick stroll to Westminster Abbey, first built in the eleventh century, and still an icon of Gothic architecture.
Next, journey further into the heart of the British government as you pass Downing Street, home of the Prime Minister, and Horse Guards Parade. If you're lucky, you may see the Queen's personal cavalry on duty as you admire the glorious Palladian buildings.
Your guide will introduce you to war memorials and other state buildings as you stroll up to bustling Trafalgar Square. This is the home of Nelson's Column, topped with a statue of the admiral, picturesque fountains, and galleries that house some of the world's finest art.
Next, descend into the hubbub and buzz of Covent Garden, once home to a thriving fruit and vegetable market, and now a shopping, eating, and street theater mecca, and London's Chinatown. You'll continue to buzzy Leicester Square and Piccadilly Circus, perhaps London's answer to Times Square.
Return to serenity as you stroll down Piccadilly and through Green Park, one of London's prettiest historic parks: you'll find yourself at the gates of Buckingham Palace, home of the Queen. From here, your guide can either escort you to the tube or leave you to explore the public areas of the palace (own expense).