Lori, I did a search of the forums for any previous, somewhat recent posts with guided tour recommendations and really didn't come up with anything. Maybe it's because the historic center of Bruges is reasonably compact (we've stayed there for a few days) and most folks are able to do their exploring with pre-research, a book and/or info from the local tourist info offices: they do offer several self-guided walking routes (see last link on this post).
But they also offer this 2-hour walk with a local guide that might work for you? Fortunately it is an afternoon tour, just as you'd wished! :O)
https://www.visitbruges.be/en/whats-on/events-calendar/bruges-heart-guided-walk-2-hrs
In case you're interested, here is the info on the self-guided 'Oooh! Bruges' self-walking guide offered by the local tourist offices.
https://www.visitbruges.be/en/things-to-do/sightseeing/on-foot/walking-guide-oooh-bruges
We found Bruges to be quite an interesting place, given time to delve beyond the surface. Lots to take in if you have an interest in history. I hope you are staying a night or two? Sadly, I see that one of my favorite historic attractions - 12th century Sint-Janshospitaal - is largely closed for renovation until sometime this fall but no matter, there's plenty else to explore!