"Generally just walking around" is the best way to see London. Get a good street map, an A-Z type, not a tourist map.
Or the top of a bus. Get the normal red buses, not a tourist bus. Use the tfl.gov.uk website to look up routes and plan a jouney. The no11 and no15 routes are good for sightseeing. DD might enjoy doing that.
The tfl site will also tell you about payment options.
Not sure I'd do the Tower on a first visit when you only have limited time. What I would do is go down to the Embankment there and look at it from the outside, and see Tower Bridge and the river. Then get a bus or walk through the City and look at St Paul's. Then bus down to Trafalgar Square and walk through St James's Park to Buckingham Palace.
If you have time at Traf Square you could pop into the National Gallery or National Portrait Gallery. The new Foyle"s bookshop is 10 min walk up Charing X Road from there.
Try to fit in a Tube journey, for the experience.
There's a huge amount to see and do though, so whatever you do, you'll only scratch the surface.