Nara Kōtsū runs daily bus tours on a variety of routes, two of which include Nara city sights only and two of which include more distant sights like Hōryū-ji and the burial mounds around Asuka. An explanation tape in English is available for all but the Asuka route. Lunch at a Japanese restaurant on the route is optional (reserve when buying your ticket). Nara Kōtsū has offices in JR Nara station and across the street from Kintetsu Nara station. For something more intimate, try one of the private tours operated by one of the Kyoto-based private tour operators or one of city's volunteer guide organisations.