It's not exactly cheap, but a private tour of the Churchill War Rooms offers military buffs the chance to step behind the glass and experience Winston Churchill's wartime bunker as he did. That's the real beauty of this tour -- it allows you to actually enter the rooms themselves. If you visit as a normal tourist then you'll be stuck on the outside of them, with your nose pressed up against a plate glass window.
You'll be led around the maze of underground rooms by an expert guide, who will show you the nerve centre from which Churchill directed the war. You'll see Winston's seat in the War Cabinet Room, the Map Room with troop movements and shipping lanes pinned all over them, the top-secret scrambler room where he spoke to Roosevelt (disguised as a toilet!), the little kitchen filled with post and pans, Winston's Dining Room and bedroom, and even his wife Clemmie's bedroom.
Some of the corridors and rooms and so cramped that it's easy to imagine what life must have been like during the Blitz. The Churchill War Rooms are only a short height below Whitehall (they spread out from the basement of the Treasury, under Horse Guards and St. James's Park), so they would have heard the bombs dropping on the street. Churchill was supposed to have braved the air raids a few times so he could watch the bombs falling from the roof of Downing Street.
Craig has never been on a private tour of the Churchill War Rooms (he doesn't get paid enough!), but he has been on a normal visit -- which he definitely recommends. You might like to read his review of the Churchill War Rooms before you go, which has some more photos of the what the rooms are like. Feel free to ask him some questions about the War Rooms, or write your own review on the forum.
If you're interested in World War II, then Craig also recommends a visit to the RAF Museum, HMS Belfast and Bletchley Park (where they cracked the Enigma codes). Lots of people recommend the Imperial War Museum as well, but there's actually more stuff about the battles and personalities inside the Churchill Museum at the Churchill War Rooms. They do have some World War II-era vehicles you can walk around, though -- like tanks, jeeps and V2s, and they've got a few planes dangling from the ceiling. But the best planes are definitely at the RAF Museum.
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