When you first come to New York City—whether you're making the final descent on an airplane and see thousands of lights below or emerging from Penn Station and look up at the skyscrapers towering above—its immensity can be both thrilling and intimidating. Enter the experts behind New York's numerous guided tours. The 10 companies in this slideshow offer an insider's view of the City's museums, some of its favorite stages and exciting neighborhoods including Midtown and Harlem. They give visitors and locals a chance to experience NYC using their eyes, ears and taste buds, traveling by foot, train, bus 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.