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There are different possibilities how one can sightsee at Lucerne.
Guided city tours
Guided city tours for groups or individuals can be booked at the Tourist Office (railway station exit, next to the exit to the old town) or on http://www.lucerneguide.ch/
Self Guided Tours
There is a map on www.luzern.com/en where one can see where the main attractions are. The city tour without the Musegg Wall is nearly five km to walk. As there is so much to see at least two hours will be required for this (plus the time spent in the Bourbaki Panorama and the Glacier Garden). There are plates on the most important buildings with explanations about their history. There is more information available at the Tourist Office.
The old city wall (Musegg wall and towers)
A part of the old city wall can be climbed and you can walk along it. There are three towers which can be visited. They offer great views over Lucerne. The wall and the towers are open from good friday until all seints. During wintertime they are closed.
The mountains can be seen on the walk along the lake from the large bridge (traffic) to the traffic museum. There are enough banks for breaks.