There are regular walking tours of Bath, not to mention Ghost Walks and a Comedy Walk. The city centre is small and the best way to explore it is by foot. The Tourist Information Office in Abbey Churchyard has walking maps of the city to help you find a route.
Besides the museums and the Theatre Royal, don’t miss the Royal Crescent and the Circus, Queen Square, Abbey Churchyard, Abbey Green or the Cross Bath tucked away down Bath Street. Visit Pulteney Bridge and the Weir, along with the colourful Parade Gardens.
If you have the energy, walk up Lansdown Hill and turn into Camden Crescent for some of the best views of Bath.
Lansdown Crescent is just a bit higher up the hill and my favourite crescent in the city, while Widcombe on the other side of the valley is full of small streets and beautiful houses.
Above Widcombe is Prior Park gardens with more views of the city from a Capability Brown landscape.