Circular walking guide from London Waterloo

From London Waterloo station, exit to the South Bank and cross the Thames at the new and spectacular Hungerford Bridge to Embankment tube. Pass through the station and turn left along Embankment Place, then right into Craven Street.

At number 32 Craven Street is the plaque to the German romantic poet Heinrich Heine, who lived here in 1827. Further down, 36 Craven Street is where American inventor Benjamin Franklin resided between 1757 and 1762. At the end of Craven Street, cross the Strand to St Martin's Lane, passing Trafalgar Square on your left. Opposite the Albery Theatre, at 61 St Martin's Lane, a plaque marks furniture maker Thomas Chippendale's workshop (1753-1813). Continue north up St Martin's Lane and turn left into Great Newport Street. At 11/12 was the jazz club, Studio 51, where Britain's leading New Orleans-styled trumpeter Ken Colyer played between 1950 and 1973; number 5 was the home of artist Sir Joshua Reynolds (1753-1761). 

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Retrace your steps and cross Monmouth Street into Garrick Street. Take the second left into King Street, where at 31 is a plaque to composer Thomas Arne, best known for "Rule Britannia".

Continue to the end of King Street, and turn right into the market place – a good spot for refreshments and street entertainment. A plaque on one of the pillars at the rear of St Paul's church shows that the first Punch & Judy show performed in England was witnessed here by diarist Samuel Pepys on 9 May 1662. Walk back along King Street into Garrick Street and turn right into Rose Street, passing the famous Lamb & Flag pub, where Charles Dickens used to enjoy a drink.

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At the end of Rose Street, you will find yourself opposite 133 Long Acre, where John Logie Baird transmitted the first television programme on 30 September 1929.

Turn right and walk passed Covent Garden tube to 69-75 Long Acre, where there is a plaque to Denis Johnson, who made and sold Britain's first bicycle here in 1819. Turn back along Long Acre and turn left into Bow Street. A restaurant at the junction with Broad Court bears a plaque with the names of some of Bow Street's former residents, including the 18th-century novelist and playwright Henry Fielding.

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Pass the famous Bow Street Magistrates' Court on your left and the Royal Opera House on the right.

Turn right into Russell Street, where a plaque at number 8 records that Samuel Johnson first met his biographer James Boswell here in 1763. Go back past the Theatre Museum, right into Wellington Street and left into Tavistock Street. On this corner is a plaque to Charles Dickens, who had apartments here (1859-1870). Turn back and at the end of the street, at 27 Southampton Street, is a plaque to 18th-century actor David Garrick.

Turn right, and then turn left into Henrietta Street, where at number 10, Jane Austen stayed with her brother Henry (1814 -1815). Head left into Bedford Street, then left again into Maiden Lane. Painter JMW Turner was born at a house on the site of 21 Maiden Lane in 1775, while at number 10 is a plaque to Voltaire, the French philosopher and playwright who lodged here (1727-1728).

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Walk back to Southampton Street and go right on to the Strand. Turn right, cross the road and walk into Adam Street. At number 8 is the former home of Richard Arkwright who invented a spinning frame in 1768. On Adelphi Terrace, a plaque lists some of its former residents, such as writer Thomas Hardy.

Walk right into Robert Street where writer JM Barrie lived. At 16 John Adam Street is a plaque to 18th century caricaturist Tom Rowlandson. Turning left into Buckingham Street are two plaques for Samuel Pepys, who lived at numbers 12 and 14.

Finally, walk back into John Adam Street and turn left. The plaque at 43 was a former home of novelist Rudyard Kipling.

In front of you is Charing Cross station. Turn left down Villiers Street to Embankment tube, to retrace your steps back to London Waterloo station. 

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