Tokyo has never had a reputation for being walkable.

About 80 percent of trips in the city are made on public transport, according to Reuters, and the sprawling metropolis is renowned more for its safe and punctual public transport system than for pedestrian-friendly streets.

Other centers, such as New York City and Mexico City, and smaller cities such as Melbourne and Kyoto, have been classified by local travel experts Insides Guides as being "best explored on foot," so why has Tokyo missed the grade, and how can walkers make the best of the city's highlights? Joining a walking tour is a surefire way to start.