When you first experience New York City—seeing thousands of lights below as you're making the final descent on an airplane or looking up to massive skyscrapers towering above as you emerge from Penn Station—its immensity can be both thrilling and intimidating. Which is precisely the raison d'être for the experts behind New York's numerous guided tours. The 10 companies in this slideshow offer an insider's view of the City's striking outdoor sights, historical spots and exciting neighborhoods, including Midtown and Lower Manhattan. They give visitors and locals a chance to experience NYC using their eyes, ears and taste buds, traveling by foot, helicopter, bus, bicycle and boat. We update this roundup every few months, so be sure to check back frequently. For even more possibilities, peruse our list of New York City tour options.