If you don’t have a car of your own, a good way to see the sights in both Lexington  and Concord  is aboard the Liberty Ride (33 Marrett Rd., Lexington, 781/862-0500, www.libertyride.us , 10:30 a.m.–3 p.m. daily, $25 adults, $10 students 5–17, free children under 5), a shuttle that makes regular 90-minute trips from one end of the Battle Road to the other. You can get off and on as much as you’d like.
In Concord proper, Concord Guides (48 Monument Sq., Concord, 978/287-0897, www.concordguides.com , 2–4 p.m. Sat.–Sun. Apr. 15–Nov. 1, $19 adults, $15 seniors and students, $12 youth 11–18, $7 children 6–10, free children under 6) offers two-hour walking tours with various themes, including history, literature, and architecture.