If you only have one day in Munich, like I did, try a New Munich Free Tour. The guides are well trained and entertaining.

The tour lasts about three hours and gives you historical background to the places you visit. It’s a little heavy on the history of the Third Reich, but there’s a stop at Hofbräuhaus and the Viktualienmarkt, plus a great legend about the devil and a pair of Birkenstocks, so it’s not too dark.