This was excellent.
Our guide was friendly, knowledgable and interesting. Her Engish was excellent.
We were given a running commentary which included a brief history of Dijon and the Duchy of Burgundy, were shown the sights in context and shown things we otherwise wouldn't have discovered ourselves, and given helpful recommendations about things to do and see.
She collected us at our hotel, and one unexpected bonus was that she started the tour by taking us through the hotel, part of which was built in the 13th or 14th century (I don't remember which), talking about its construction, layout, history and original function. The original part was still largely intact. It was a good start, and the high standard continued.