Beverly dates from a time when walking was the only common way most people had to get around...
To make ordinary life possible, everything -- stores, services, public offices and anything else -- had to be within practical walking distance of one's town residence.
Consequently, modern visitors can see almost every feature in Beverly with very little difficulty. Park your car at the Museum or Visitors Center and get a free walking tour guide to Beverly's historic buildings. Within blocks are the Goff House and the Lemuel Chenoweth Museum. There are other attractions farther afield, but much of Historic Beverly lies within a few blocks.
Or, if you would like to experience Beverly on the web right now, there are several options available here:
A Walk Through Beverly