One Day in London with Kids: The Perfect Itinerary

London is overwhelming. With more than 8 million residents and nearly as many historic and cultural sights spanning two millennia, you could easily spend a week or even a month exploring its nooks and crannies.

But if you only have one day, here is a near-perfect itinerary that will satisfy both kids and parents with a touch of culture, a trip through history, and maybe even a proper pint.

Note: because Heathrow is one of the most frequently used hubs for flights connecting the US and continental Europe, it is likely that you could find yourself with a one-day layover on a trip. This itinerary was developed specifically for those quick in-and-out travel situations so that you can feel that you've done "a wee bit" of London even if your time is short.

A few notes: this itinerary combines free sites and paid entry must-dos. They are noted within. This itinerary also is set up for a full day of travel with a bit of transport involved. Recommended travel from Heathrow is the Heathrow Express (for speed and ease). Once in central London, Tube or bus transport are easiest. Ubers and taxis are plentiful but can get costly.

First an overview:

• Start with history: Tower of London

• Walk to a hidden gem: St. Dunstan's in the East

• See (and possibly hike) the Monument to the Great Fire of London

• Stop for some pub culture: Walrus and Carpenter

• Walk across London Bridge (not Tower Bridge)

• Lunch at Borough Market or a proper pub

• Check out Southwark Cathedral

• Marvel at the impossibly small size of a 16th-century exploring ship

• Speak in iambic pentameter as you walk by the Globe Theater

• Enjoy one of the world's most famous art collections at the Tate Modern

• Scoot to Kensington Garden

• Tea at Kensington Palace Pavilion

• Playtime at Diana, Princess of Wales' Memorial Playground

• Dinner at The Anglesea Arms in South Kensington

The Tower of London is one of the biggest and most noteworthy historic sites in all of England. It will be crowded and you will wait in line...but you can skip at least one queue by buying your tickets online. Kids under five are free and different types of family tickets offer a small discount.

Once inside, consider joining one of the Yeoman Warder tours, free with your ticket, for a stroll through the expansive grounds. Bedecked in the traditional Beefeater uniform--which you might recognize from a bottle of gin--these expert storytellers spin the amazing tales of the Tower's history from the silly to the macabre.

You can see a castle, inside and out. Learn the history of the Battle of Hastings and William the Conqueror. The ramparts are fun to climb for active little ones, and you can get stunning views of the Thames and the Tower Bridge along the way.

You'll see coats of arms, weapons of battle, implements of torture, and knights in shining armor-- including Henry the 8th's own personal set. You can also see where two of his wives were executed.

The ticket includes entry to the vault to see the Crown Jewels of the British Monarchy. Every dad visiting the Tower must make at least one joke about the Crown Jewels during the tour. Sorry, Moms. It's not our fault. It is just the way we are.

Practicalities: Plan to spend about 90 minutes (not accounting for lines) to get into the fortress or the other line to see the Crown Jewels. I highly recommend buying your ticket ahead of time. You must pick the day you want to use your ticket when you buy it, so you are pretty much locking this part of your itinerary, but there is not a timed entry so you can go first thing in the morning, or save the visit for the afternoon.

When you get to the Tower, be sure to get into the line for people who ALREADY HAVE tickets. There are two lines. One for those with and those without tickets. Getting in the wrong line will add time and frustration to your visit.

There is "buggy parking" at the entrance so you can leave your stroller while you head inside. Strollers are allowed, but there are lots of uneven cobbles and narrow stairways throughout the fortress, so if you can ditch the stroller for an hour or two, I would recommend doing so.

I would also recommend getting in line to see the Crown Jewels upon arrival. The line only gets longer as the day progresses.

Once you are done with the Tower, take a few minutes to walk along the Thames right outside the Tower walls. You'll have Christmas-card-worthy views of the Tower Bridge. Take a few minutes and take a ton of pictures.

Now it is decision time. Several interesting, if touristy, sights are now just a few steps away from the exit of the Tower. From this spot where the Tower overlooks the Thames you can:

A) Catch a sightseeing river cruise at the Tower Millenium Pier on the river right below the Tower complex.

B) Explore the Tower Bridge itself -- the ultra-famous one. You can't miss it.

C) Visit the warship HMS Belfast immediately across the river as well.

D) Get a glimpse of Roman London by walking around to the north side of the Tower. There is a small section of an ancient Roman wall, creatively named, "The London Wall" that is still standing.

E) Take in the haunting beauty of St. Dunstan's in the East Church.

St. Dunstan's is my favorite place in London. It's only about a five-to-seven-minute walk west of the Tower but seems somehow removed from the rest of London itself.

The church is nearly 1,000 years old. After being severally damaged by German bombers during the Blitz in 1941, locals decided that rather than rebuilding the church, it should be turned into a garden and a place of remembrance. Today, the half walls and ruins are run through with flowers and greenery, giving a sweet and inspiring view to an area scarred by destruction.

The other remarkable thing about St. Dunstan's is that despite being in the heart of London, the church and garden are remarkably quiet. It's almost as if the area is surrounded by a bubble of reverence that keeps the typical city noises at bay.

The play of light and shadow on the grey stones and green plants also makes St. Dunstan's one of the most photogenic places in all of London. You simply can't take a bad picture there. If you can time it right, this is a great place to spend some "nap-in-the-stroller" time. If you want to save a few pence it is also a gorgeous place for a picnic.

A few blocks further west from St. Dunstan's you'll find the Monument to the Great Fire of London. This statue and memorial tell the tragic story of the 1666 fire that destroyed huge swaths of the city and also set the stage for much of the city's current layout and architecture. For a few pounds, you can walk the narrow stairway to the top of the monument and get a nice view of the neighborhood.

By now you might be getting hungry.

If you fancy a traditional sit-down English lunch in a proper pub, then you can't go wrong with the Walrus and the Carpenter. It's about two blocks from St. Dunstan's. Fish 'n chips, ale pies, puddings -- the Walrus has some of the best traditional Brit food around. Plus you might find yourself humming "I am the Walrus" over a pint. Goo goo g'joob.

For something a bit more fun, cross over the London Bridge (the plain one just west of the fancy one) and head south to the Borough Market where England's fresh foodie revolution is in full bloom.

You'll find something for every taste whether it be sushi, fish 'n chips, artisan cheese, or ravioli. Fresh-from-the-farm salads can be found alongside fresh-from-the-wok noodles. We love going to the Borough Market, grabbing a pint or a glass of prosecco, and just walking around until everyone finds something they like. And if a picky eater just wants a cheese pizza or a muffin, you can find that too.

Once you are done with the market, take a quick walk over to the Southwark Cathedral to visit one of the most ancient and picturesque churches in London. From there you are steps away from the Golden Hinde -- a replica of Sir Francis Drake's shockingly small ship which was the first British vessel to circumnavigate the globe. Seadogs in period costume will provide a tour of the vessel, but unless your kids are really into nautical history, you can skip that and keep walking west down the Thames.

You will find cool views of the river, fun little vendors for sweets and snacks, and restaurants and pubs along the way. You'll pass the "new" Globe Theater, which is nowhere near the original but is cool to see the reconstruction anyhow.

Interesting as the Globe might be, keep going west and hit the Tate Modern, a free contemporary art museum housed in what looks to be an old factory (although some exhibitions require payment). Located directly on the Thames Quay, it's a picturesque walk on a nice day. And while you may not want to invest hours on its collection of modern art, you can pop in to get a feel or let your kiddos hone their art skills at Tate Draw. Let them take a seat at one of the drawing desks and create a masterpiece using a digital sketch pad. Their art will be projected on a wall, and you can also save it on your phone or order a t-shirt emblazoned with it.

Grab an Uber or jump on the Tube and head across town to Kensington Gardens. Along with Kensington Palace, the Serpentine Galleries, and the Albert Memorial, this immaculately maintained public park space also features the Diana, Princess of Wales' Memorial Playground. This magical playground features a huge wooden pirate ship, a sensory trail, and play sculptures, all inspired by the adventures of the fictional park hero, Peter Pan.

If you need a bit of a bite in posh surroundings, head over to the Kensington Palace Pavilion for a spot of tea. Their afternoon tea features a children's tea and can also be plussed up for the adults with wine or cocktails.

If you're knackered and need a full meal, wander out of the gardens and make your way to the Anglesea Arms in South Kensington. While there may be numerous patrons milling around outside enjoying a pint after work, the restaurant inside is cozy and separated from the pub. And the food is fantastic.

Phew! That's it. One day full of London fun.