One of the easiest and most secure ways to see Havana is by booking a tour through your cruise ship. Most offer some type of classic car tour, Tropicana show or Cuban cigars tour.
But because the majority of these tours are set up through Cuban government-owned and operated tour groups, it doesn't give you a true feel for the Cuban people. Booking with an independent company before you arrive, not only benefits the Cuban people more, but it also allows you to have a better sense of what life is like outside the hotspot tourist destinations. Plus these tours are usually operated at a fraction of the cost.
During my trip, we used
FerTours for a classic car ride and walking tour through the city. We got to name the places we wanted to see - which incorporated all the highlights - were recommended to a fantastic restaurant for lunch, had an English-speaking guide and the entire tour was private.