Theresa, while not the same style as a Context type tour, we had an excellent learning experience in the southwest with Denis Ryan, touring around Slea Head, Dunbeg, Ventry, the Gallarus Oratory, etc. He does the driving, freeing you to look and listen. You can tell Denis what you'd like to see and design the tour yourself, half day or full day, or just give him some parameters and let him take you. He's a really interesting guy, and a singer of sea shanty songs to boot. He considers it customary to stop for tea and a snack, and you'll be buying. Our few hours with Denis is an absolute highlight of our travels.
Here is his site, followed by the TA page link. On the TA page some folks have confused others with him here and there, but you'll get the idea.
http://www.dingletours.com/
http://www.tripadvisor.com/Attraction_Review-g211861-d1393516-Reviews-Dingle_Tours-Dingle_Dingle_Peninsula_County_Kerry.html#REVIEWS
Here's Denis
Explaining Gallarus Oratory
Fahan