If you would like to discover Amsterdam and the surroundings in an easy and relaxed way you just book an excursion through 1 of the tour operators on the Damrak (between Central Station and Dam Square). These offices also sell tickets for the major museums in town, with a discount and no waiting in queue. You can get tours around the city in many different ways, by bike, bus, boat or for example a walking tour.
A good idea is to take a sightseeing bike for 15 persons. It was really much fun! And no biking experience necessary because the guide uses the steering wheel and the brakes.
Of course the option is to go through Amsterdam by yourself, but perhaps it is a good tip to let somebody take you around first and then walk the city alone. Enjoy!

 On the funny bike in Amsterdam!