A very readable book by Lionel Casson entitled Travel in the Ancient World provides a wealth of information. It is divided into three parts; The Near East and Greece, Travel in Roman Times, and Tourists and Touring in Roman Times. In the last section there are chapters entitled The Sights to See, Museums, The Itinerary, Sightseeing, Baedeker of the Ancient World, and To the Holy Lands. Pausanias' Guidebook of Greece, circa AD 160-180, is the sole guidebook that has survived from ancient times, so interested readers might look for translations of that work, too.