Imagined by journalist, William Schofield, in the 50's, the Freedom Trail is 2.5 mile pedestrian trail linking 16 of Boston's most-significant historical sites. Run by the National Park Service, this red-brick-lined walk is free for all (though some of the sites do have entry fees). Starting in Faneuil hall, walkers can get free maps of the trail.
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Boston is more like an oversized European village than a city in the sense that it's very walkable. The 2.5 miles the Freedom Trail occupies give you great views of this old city, as well as access to some of America's most significant historical markers. Though most of these places tell the tale of white America, it gives you the broad picture.
History buffs will enjoy the audio tour, available at Faneuil Hall for your walk.