Last Wednesday, my wife and I took the Battlebus "American Highlights" tour. Our guide, Julian Vernon, a retired British Army Sergeant, was absolutely great. The tour lasted all day (0830 - 1730), and took us to Ste. Mere Eglise, the hedgerow country, Pointe du Hoc, Utah Beach, Omaha Beach, and finished up at the American Cemetery.
Although we didn't get to stay as long as we would have liked at some of the stops, it gave us an excellent overall picture to the D-Day landings, and provided us with enough knowledge to do a drive-it-ourselves tour on our next trip.
We stayed two nights at the Hotel Reine Mathilde in Bayeux, and were very happy with the accomodations. The room was 62 Euros per night, including breakfast, and the hotel was only a block or so from the midst of downtown Bayeux.
Bayeux is a lovely little town, and has numerous places to get a good meal. The restaurant at our hotel was quite good, as was Le Petit Normande across from the cathedral.