Guided tours only make for a complicated schedule and other Concord, MA Tourist Trap Tips

The Wayside, Orchard House, Emerson House and the Old Manse can only be visited by guided tours and, depending on the time of the year, the tours run every half-hour or sometimes only once every hour so if you're planning on seeing everything there is to see in Concord in only one day, you can't exactly play it by ear.

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At Least Do This: The best thing to do as you arrive in Concord is to stop by the Concord Visitor Center. The CVC is located at 58 Main Street, just behind Middlesex Savings Bank (free parking and public restrooms are available), and it is open daily from April to October, from 9:30 am to 4:30 pm. When you get there you can get a free map of the city's attractions with daily guided tour hours for all the museums - this will help you plan your day and will save you a lot of hassle and running around.
Alternative: Don't forget that Sleepy Hollow Cemetery and Walden Pond are open until sunset so you can save those for last!