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The Municipal Art Society offers excellent historical and architectural walking tours aimed at intelligent, individualistic travelers. Each is led by a highly qualified guide who offers insights into the significance of buildings, neighborhoods, and history. Topics range from the urban history of Greenwich Village to “Rockefeller Center: Art Deco Masterwork” to an examination of the Broadway theater district. Reservations may be required depending on the tour, so it’s best to call ahead. The full schedule is available online.