Many cities worldwide have free walking tours where you name your own price or sometimes for only the price of a tip. Take advantage of them. First of all, a little history and background on a new city will add depth to your travel experience. Secondly, you will meet locals who have a love for their city and are happy to share their tips and secrets.
Most cities offer more than one free tour so you can decide which one fits your schedule or interest. For example Original Europe Tours offer a traditional and a more edgy Alternative tours in cities from Amsterdam to Warsaw. There are large well established tour companies such as New Europe Tours (Sandeman’s) or Original Free Tours and then there are smaller ones that may offer only one city such as FreeDam Tours in Amsterdam Free tours last about 2-3 hours so plan on half a day.
Most companies will give you a more in depth private tour for a fee. Ask about it. Another good option is the Global Greeters Network that is more like meeting a new friend and getting a tailored look around their city, usually based on your interests. Greeters offer tours for individuals and up to 6 persons. The organization is meant more as a cultural exchange and not commercial ventures like other companies. Be aware that with Greeters you need to make arrangements in advance. With other tour companies you just show up at the correct time and place.
To find a free walking tour in your travel destination I recommend you just Google “free walking tour (name of city)” or check out one of the companies mentioned above.