When we were in Amsterdam/Lucerne/Basel a few years ago I used an app on my phone from "GPsmyCity.com". (search the Android App Store - not sure about IOS availability). I think it costs a couple of dollars for each city, but they have info on all of the popular tourist sites in each town as well as maps that show your actual location via GPS. I found them helpful for planning before we left home, as well as guiding us when we were there. There are probably new apps that have been developed since our visit, but these worked well for us and I know they are now available.