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Private Guide London?

We have only a couple days in London and want to pack in the sites. Can anyone recommend a good private guide (Blue Badge) to meet us at hotel in South Kensington and plan a sightseeing trip (four hours-ish?) using the Tube or bus and then walking the sites?

OR, a private tour by car that isn't crazy expensive?

We have used London Walks before, they were great guides and itineraries, but some of the groups were large and bogged down by questions or mobility issues in the group. Because we don't have a ton of time, we want to be efficient and on the go.

Thanks!!