http://www.dailymotion.com/video/x10dz5w_historic-new-england-kayak-tours_sport?search_algo=2

Connecticut Coastal Kayaking provides tours along the waterways, including historic Mystic Seaport (yes, the video’s title is “Historic New England Kayak Tours” but it’s not being offered by Historic New England–but perhaps it should!).   Here’s a 2:35 video showing you what it looks like from the water (what an appropriate way to see and interpret waterfront towns!).  Sorry about the ad.