Take it easy, stay for a few days. Walk around downtown, spend the night and check out the surrounding scene.
Here are the inns and hotels walkable to or from downtown Lexington. These are all within 3/4 of a mile of the center of downtown.
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Abigail Inn
Grace House
Hampton Inn
Llewelyn Lodge
Stonegate
The Georges
The Gin
Many enjoy a cabin in the woods or the motel w/pool by night and wander around downtown Lexington by day.
The Visitor Center maintains a list of other lodging options in the area. The ones that show a Lexington location are closest to town.
Downtown Lexington Virginia Guide 