Some of my favourite London mornings cost nothing at all. This short walk links the river, Parliament, the Guards and a quiet park lake, and you can do it in about an hour at an easy pace, longer if you stop for every photo like I do.

Start on Westminster Bridge

Westminster Bridge, looking back towards County Hall

I like to start on the south side and walk across the bridge towards Parliament. Even under grey skies the bridge is busy with people stopping for selfies, so go early if you want the pavement to yourself. Look back at the curved front of County Hall on the far bank, and keep an eye out for the green railings, painted to match the benches in the House of Commons.

Elizabeth Tower and Parliament

At the Westminster end of the bridge, Boudica rides her bronze chariot below the clock tower. Big Ben is the name of the great bell; the tower itself is the Elizabeth Tower. Walk round into Parliament Square for the full Gothic front, then head up Great George Street towards St James's Park.

The Guards near Buckingham Palace

Foot Guards marching past the gates near Buckingham Palace

If your timing is right, you will hear the band before you see the soldiers. The Changing of the Guard does not happen every day, so check the official schedule on the Household Division website before you plan around it. On a guard day the crowds at the palace railings are deep, and I find the route along the edges more relaxed for watching the Guards march past.

Finish by the lake

Greylag geese on a royal park lake

After the bands and the crowds, the lake in St James's Park feels like a different city. Geese and ducks paddle right up to the edge, and the benches along the water are the best place I know to slow down before lunch.

Practical notes

• Nearest stations: Westminster to start; St James's Park or Green Park to finish.

• Everything on this walk is free.

• Comfortable shoes help: the route is short but the pavements are crowded.

If you want to stretch this into a longer day, I mapped three self guided routes past the top sights on my free London walking map, with a printable version for your pocket.