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Favorites include the Bayeux Tapestry, British Cemetary, and the cathedral. The museum provides an audio guide for children and adults in your language when you actually view the tapestry. The bookstore/tourist shop has some wonderful keepsake books on the tapestry.
The cathedral is easy to find - follow the spires. It is free and worth the stop.
The British WW II cemetary is by the museum on the ring around Baueux and is free to visit as well. It is like a garden and interesting to compare how the British approach their WWII cemetaries - an English rose will shadow every stone at some point during the day and families are allowed to have the bottom of the stones personalized with a saying. While in Normandy you can also see the famous American Cemetary and the German cemetary in La Cambe and compare the three.