There are a few agencies that organise guided walks in and around London.
I highly reccomend this way of exploring London, as long as your understanding of spoken English is adequate, of course.
If you are in a group of about 15, you can also ask for a guide who speaks your language.
Here's a list of agencies I know :

• The Original London Walks tel 0171 4356413
• The Londoner Pub Walk tel 0171 8832656
• Discovering London   tel 0277 213704
• Historical & Theatrical Tours   tel 0171 7006931
• Canal Walks   tel 0171 5862556

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   This page is mantained by Barbara Monda