Lace up your walking shoes! You’ve decided that what you want out of your active vacation are walking tours that allow you to enjoy the sights and sounds of your destination while still getting in some good exercise. The following are the best picks for book, audio, and group tours in pedestrian-friendly cities worldwide from MSN Travel:

Boston:

• Book: The Boston Foot Notes: A Walking Guide (Saben Books), by Jane Grossman and Felice Yager, follows five popular walking tours, from Back Bay to Charlestown.
• Audio: The free Boston Freedom Trail Audio Tour guides visitors through 2 1/2 miles and 14 historic sites.
• Group: Discover North End's Little Italy’s culinary markets with Boston resident and professional chef Michele Topor.

San Francisco:

• Book: In San Francisco As You Like It (Ulysses Press), native Bonnie Wach lays out 23 routes tailored for shop-a-holics and culture seekers.
• Audio: Ten Toe Tours details four tours through San Francisco’s historical neighborhoods.
• Group: The nonprofit, City Guides offers both traditional and provocative free tours; including "Bawdy & Naughty," which celebrates the city's "professional women."

London:

• Book: The two volumes of London Walks (Time Out) is a guidebook by natives who provide a unique, rare insight into the routes available.
• Audio: "Literary London" iToor, offers stories of scandals, triumphs, and riots on the streets of London, paying tribute to John Lennon and Oscar Wilde, among others.
• Group: Original London Walks offers basic tours along with more exotic ones.

Paris:

• Book: The Great Paris WalkPack (The Great WalkPack Company) provides five foldout neighborhood walks.
• Audio: Soundwalk Paris: St.-Germain-des-Prés is an hour-long tour of the City of Light, with stops at unique cafés, antiques shops, and jazz dives.
• Group: Find a guide! Paris Addict's guides (33-6)09-94-09-21) accompany clients to museums, monuments, and shopping trips. They provide a fun, cultural experience.

Rome:

• Book: In John Varriano's Literary Companion to Rome (St. Martin's Griffin), you will find a plethora of writings from poets on the beauty and detail the streets of Rome have to offer.
• Audio: On the lively iJourneys tour of Old Rome, piazzas, the Pantheon, Michelangelo, and Tartuffo ice cream are all part of this exciting venture.
• Group: With a strong emphasis on the scholarly and informational, Context: Rome offers private and small-group tours led by historians and archaeologists.

Source: Travel MSN