walking tours

I absolutely loved doing tours with London Walks. They also go out of London on day trips. For just a few pounds you get an expert guide and don't have to worry about getting lost or having your face in a book and missing something. I think I went on 6 or 7 in the almost 2 weeks we were there. I would gladly do a walking tour with them over any other way any day. And they have lots of different areas of interest, so there is pretty much something for everyone. I've enjoyed all that I've been on. You can find them at walks.com.

We've only done two walking tours in England (plus one in Scotland). They were all self-guided but suppoted walking tours. No guide but the tour company booked all of our accommodation other than transport to start and from end, provided guide books and route instructions and organized luggage service. We used Contours Walking Holidays and highly recommend them.
https://www.contours.co.uk/index.php

Our first and most memorable walking tour was the Wainwright coast to coast - St Bees to Robin Hood Bay. It was a literal cross section of England the short direction. Lake District, Yorkshire Dales and North York Moors. Between Full English Breakfasts and pub food and drink I gained a pound or two in weight.
https://www.contours.co.uk/walking-holidays/coast-to-coast-walk.php

Choose your own: http://www.nationaltrail.co.uk

Great English common law is the right to roam.
https://www.gov.uk/right-of-way-open-access-land

You have the right to access some land for walking or certain other
leisure activities.

You can:

use public rights of way, eg roads, paths or tracks that run through
towns, countryside or private property use your right to roam to
access open land including mountains, moors, and common land that’s
registered, eg with local councils

Use your right to roam You can access some land across England and
Wales without having to use paths - this land is known as ‘open access
land’ or ‘access land’.

Access land includes mountains, moors, heaths and downs that are
privately owned. It also includes common land registered with the
local council.

Your right to access this land is called the right, or freedom, to
roam.

I'd add another vote for London Walks. There are many, many from which to choose, something for everyone. I've been on several, both in London proper and out of town. I thoroughly enjoyed each and every one of them. I am sure you can find something to suit your fancy. Just google for website but I think (?) it's walks.com.