Hi! Should we book a day tour from Brussels to Bruges, or would it be better to take the train and join a canal tour once we arrive? Either way, we'd love to hear any company recommendations based on your personal experience!
I wouldn't personally book a tour. The historic center of Bruges is not that large, and if it's very busy - it's a popular destination - you'll move around more nimbly on your own than with a group. You can also make your own itinerary, and stay as long or not in town as you wish. As we did, however, you'll need to do your own reading-up on what Bruges has to offer, what you want to see, closure days, entry fees, etc.
Train is easy from Brussels. Canal tours are pretty short: 1/2 hour or so, and was OK but not a highlight. We bought spur-of-the moment tickets for one when we stayed in Bruges for 4 nights (with a day trip to Ghent.)
For your own walking tour through Bruges
https://www.visitbruges.be/en/things-to-do/sightseeing/on-foot/walking-guide-oooh-bruges