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London Day Trip

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My husband and I will be taking a day trip from Paris to London in a couple of weeks and I was wondering how much sightseeing we can squeeze into one day. We will be arriving at Waterloo station at 8:30am and departing around 7:45pm. Some of the places we are interested in seeing include:

Buckingham Palace
Changing of the Guard
Kensington Palace
Tower of London
Westminster Abbey
Windsor Castle

We would like to see as much as we can in the time that we have. Also, what would be the best way to get from place to place? The tube? Bus? Is there some sort of 1-day transportation pass? Any suggestions or possible itineraries would be greatly appreciated.

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