Philadelphia
Yes, Philly is a big city, but most of its historical and cultural attractions are located in Center City or along the Benjamin Franklin Parkway, an area that is eminently walkable. Finding parking in the city is difficult, making walking and public transit the less stressful alternatives. The Reading Terminal Market, a regular pit stop for grocery shopping or lunch, gets crowded during conventions and other large events nearby such as the annual Philadelphia Flower Show, so get to the market early. Locals wanting to stay tuned to the never-ending offerings of street festivals and events use the excellent website uwishunu, whose neighborhood and seasonal guides are invaluable.