We went to the Royal Yacht Britannia straight from our hotel as we were staying at the Leith Waterfront Premier Inn. The yacht is at Ocean Terminal in Leith. The Hop On Hop Off Majestic Tour stops right out front of it.
We visited Palace of Holyroodhouse after we’d been to Edinburgh Castle. Its on the other end of the Royal Mile from the castle so its a pretty easy walk downhill to get to. You also walk past the Scottish Parliament on your way so you’ll know you’re on the right track if you see that!