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Daugavpils

I will be in Riga June 2014. I want to go to Daugavpils to visit the synagogue, museum and cemetery, as that is where my grandparents came from. I prefer to make it a day trip from Riga and would like to book a car and a guide. Does anyone have any information on how to do that? I know that Daugavpils is about 3 hours from Riga. Does a day trip still make sense?