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jrhatchjrI agree with the comments about taking the "T" (MBTA) instead of driving. One thing to remember if you do take the subway: everything is labeled "inbound" or "outbound." This can be very confusing if you don't know which train to take. Remember this and you will be fine: Inbound is always toward North Station and outbound is away from North Station. If you know your destination and have a reference map (many, but not all stations have a map, so keep one handy) there should be no problem.
Walking Boston is also excellent. The Freedom Trail is a good way to see the city on foot. If you decide to take this on, I have found it better to start at the end, which is Bunker Hill. This way, you walk your way into the city and can relax on Boston Common or get a bite to eat when your done. If you end at Bunker Hill, there's really nothing around to do once finished.
Also, if the timing is right, you may want to take in this show. It's run by the Greater Boston Sports Collector's Club which has put on a large annual fall show since the 80's. This is their first offering during the summer. Details can be found here:
http://www.gbscc.com/convention.html
Enjoy your trip to Boston!
Jim