After crossing the Golden Jubilee Bridge, you can continue on Villiers St. past the Charing Cross Station and turn left on The Strand to return to Trafalgar Square. Your walk will total 2.75 miles.
London Walking Guidebooks
"Rick Steves' London" (Compare Prices): Updated yearly, this book describes several wonderful walks in and around London, in addition to travel tips and sights to see. Rick Steves is always the first source I go to when planning a vacation in Europe.
"Frommer's Memorable Walks in London" (Compare Prices): An excellent guidebook to enjoy truly interesting walks in London. I enjoyed several of the walks and was never disappointed in discovering nooks, crannies and history I would have missed otherwise.