Start your self directed tour at the Minuteman National Park visitor center which is located in Lincoln, MA. They have a nice multimedia presentation called the Road to Revolution. There is a little shop to purchase items of yore, as well as clean bathroom facilities. Before you go check out the National Park Service website to see what events are planned in order to make the most of your day. From here you can either walk a trail to the Hartwell Tavern or hop back in your car. Here's where planning helps. Sometimes the Tavern is closed and other times there are reenactors on hand who will welcome you in and tell you about that time in history. You may get lucky to see a musket demonstration, too!
From there we typically hop in the car and head over to the Old North Bridge, though I believe you can continue to walk it. If you have the time and energy also check out the visitor center where a cool cannon is housed.
If you love to learn about our nation's history, this is a great place to visit!
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