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There really is no better way to explore a city than by foot. While bus tours can give you an overview and a nice introduction to a city, it's really hard to match the experience of walking the streets and paths with a knowledgeable tour guide. There are a variety of walking tour companies and a number of independent tour guides in Toronto who offer experiences ranging from a short free tour, to full day customized itineraries. Below in alphabetical order are the most well-known and what they specialize in:
Check out the websites, choose your tour experience, and enjoy Toronto in the best possible way - on foot!