My wife and I will be in Amsterdam this weekend, a three day stop over on our way to Tanzania. Are there any canal tours that transit the smaller canals and give some sense about the history of commerce in Amsterdam? How about an "off the beaten path" type of canal tour? Any suggestions for good walks that will get us into smaller streets and courtyards, etc. We've been in Amsterdam once before, quite a few years ago, and would like to experience something other than "big sights". Thanks for any suggestions.

We chartered our own water taxi,and had them navigate the city for us. Check with your hotel, it wasnt a budget blowing amount of money.

We also like the canal house museum.

We used this site for some ideas for walking in the Jordaan:

http://www.jordaanweb.com/

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Depending on your activity level renting a pedal boat and exploring the canals on your own would be a great way to see smaller canals and different areas. There are four locations in the center where you can rent them and drop them off and they'll provide a route and tour of buildings and sites.

There are several good walking tours online which will get you around the Jordaan, Jewish Quarter etc. Or take the free ferry across the harbor and explore that area.

Stop by the VVV near Leidesplein or oppoiste central train station and get any of several prepared walking tours and maps - minor charge but just what you're looking for - one for Joordan for starters - arguably the cutest parts of the myriad of Amsterdam canals

Amsterdam is so walkable and safe, you can easily just 'follow your nose' without needing a walking plan. We loved wandering around that lovely city, at all hours of the day and night. We weren't interested in the Red Light District, though. Just not our taste.
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We followed the walks in the Fodors guide through both the Jordaan area and the Jewish quarter and really enjoyed them both.

I love just walking on my own through the Jordaan. It is so charming and completely safe. The quaint little canals are a photographers dream.