Housed within a historic, disused power station and located right on the South Bank of the Thames, the Tate Modern is known for its collection of modern and contemporary art icons, its blockbuster temporary exhibitions, and the enormous installations that take over its Turbine Hall. Although the museum is free for all to visit (with suggested donations encouraged), it’s best to go on a sightseeing tour to make navigating this sprawling art-world giant easy.

Most visitors know that London is old, but few realize just how old. We’re talking AD 47, when London was first established as Londinium by the ancient Romans. No other museum better captures the city’s thousands of years of history, and its evolution throughout the ages, than the Museum of London. Soon to open in its new location in Smithfield Market, and with a bonus satellite location in the London Museum Docklands, this museum is the best place to learn about the city’s story.

Is any London museum more iconic than the British Museum? Situated in the heart of Bloomsbury, the museum is home to priceless treasures from the Rosetta stone to Egyptian sarcophagi—no wonder it’s on the top of many travelers’ to-do lists (or, with nearly 6 million annual visits, is the most popular attraction in the entire country). Book your London museum tickets in advance for a guaranteed admission time and audio guide, or explore with a guide to head straight to the collection highlights.

Plan on exploring London’s cultural institutions? It’d be a mistake to miss the National Gallery. Not only because it’s free for all, or is located right overlooking Trafalgar Square, but also because it’s chock full of masterpieces, including Vincent van Gogh’s Sunflowers and Jan van Eyck’s Arnolfini Portrait. In fact, the museum’s collection promises a survey of Western art history from the days of Michelangelo and Raphael up through Rubens and Seurat.

When it comes to art galleries in London, the National Portrait Gallery is, as its name suggests, somewhat specialized. But that doesn’t mean it’s limited. Home to the largest collection of portraits in the entire world, the museum (which is conveniently located right next door to the National Gallery) showcases paintings of kings and queens, nobles and aristocrats—but also boundary-pushing works by Tracey Emin, David Hockney, Marlene Dumas, and Juergen Teller.

For younger London visitors, interactive museum experiences don’t get more delightful than hopping aboard vintage buses, pretending to drive trains deep underground, or discovering vehicles from retro trains to horse-drawn omnibuses. The London Transport Museum offers all this and more, with an extraordinary collection that ranges from the world’s first underground train to wartime uniforms. It’s also conveniently located in the heart of Covent Garden.

Want four historical museums in London for the price of one? Then head eastward to the Royal Museums Greenwich, which collectively tell the story of Britain’s maritime history. By booking a combo pass, you can visit the Cutty Sark (a celebrated historic sailing ship), the Queen’s House (a former royal residence), the Royal Observatory (where you can stand on the Prime Meridian line), and the National Maritime Museum (which includes nautical artifacts), all in one edifying day out.