My colleagues and I take it in turns to offer a walking tour in the centre of Chester every day of the year at 10.30 a.m. and also from Easter to October at 2.00 p.m. The tours start from the Visitor Information Centre in the Town Hall Square.  Cost is £10 per person and under 16s go free.  No need to book, just turn up!

                                                    Or book in advance via The Chester Tour website:

                                                           https://chestertours.org.uk/the-chester-tour/

On my own tours I usually incorporate places you might not discover by yourself, including Roman columns hidden in a basement, the hypocaust of the original Roman baths, escape routes from the wartime HQ of Western Command and the 15th century tavern on the Rows where ladies of the night used to meet their clients.  I also offer this as a private tour for individuals or groups at a time of your choosing for those who who prefer to make a booking in advance.