What is a good tour company that would pick you up in Paris and take you to Normandy?
Grayline Tours. Bus leaves from and returns from their shop on the rue du Rivoli, across from the Tuilleries.
Check out their website.
I took this tour a year and 1/2 ago, it was very good. You are on a large bus, which I usually don't like, but it was an easy way to get to several of the Normandy locations. The bus is comfortable, they have guides that speak all the languages of the folks on the bus, and I thought they gave us enough time at each sight.