The first place to go always should be
l'OFFICE DU TOURISME because this is the place where they just know an answer to every question you might have and...... don't be afraid about the language differences: they all speak your language and in any case ENGLISH.
They provide you with e.g. walking routes like
LE CIRCUIT RENAISSANCE or LE CIRCUIT MEDIEVAL and all you need to know to enjoy the Basilica e.g. to the full.
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Phone: 02 96 43 73 89
Address: 2, Place du Champ au Roy - B.P.56
Directions: Guingamp, towncentre, near the Basilica...
Website: www.guingamp.com