We took the small group tour in the state rooms with an amazing guide. The cost was 99 pounds per person and it was worth every penny. You get to see about 18 rooms of the palace with a knowledgeable tour guide/royal historian. Our guide explained the history of the rooms, furniture and art. Pictures and videos are strictly forbidden but it allows you to listen and fully absorb the experience. They include a really high quality book about pictures and explanations at the end of the tour for you