Look up Wanda Martinelli for a very knowledgeable,articulate and charming guide.
A native of Lucca that has an intimate knowledge of the city,its history and intimate feel for the soul of the city.
A must if in Tuscany

The walking tour was a full two hours, and well worth the 10 Euros per person. The guide was very knowledgeable. You pick up this tour at the information center at Piazzale Verdi on the western side of town, English tours start at 2:00
Hence my four stars, we had an itailian couple join the tour and they did not speak English so the guide translated everything into both languages. We felt that many of the sites were overlook due to time constraints translating. I am sure if I went on an Italian tour they would not have spoken English. This was very disrespectful. I nearly walked away. Anyway overall it was good.
The guide did make a serious mistake at the old coliseum, she pointed out the only remaining arch from Roman times, however the next day just a few metres away while my wife and I were looking for a restaurant we found a far superior in tacked arch.
Overall was very good and the guide did her best.