Mr. Hillwalker's walking tour in Kyoto, WALK IN KYOTO TALK IN ENGLISH, is one of the most famous walking tours in Japan. Lonely Planet (http://shop.lonelyplanet.com/index.jsp?affil=googleshopRoW) introduced his tour.
For details go to his site:http://web.kyoto-inet.or.jp/people/h-s-love/
Though Mr. Hirooka, a great pioneer of walking tour in Japan, is very passionate despite his age, his successors, WARAIDO, also started to guide on Mondays recently.
WARAIDO:http://www.waraido.com/#re
I joined one of his successors, Mie's tour on 9th August 2010, then interviewed him.