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Well as they say: "There is an app for that". There is apparently an application for iOS that can provide you with self-guided tour of Honolulu.
There is also another self-guided walking tour of downtown Honolulu.
All of the guided tours of Honolulu would actually require people to pay but it may be possible that the hotels would offer discounts or even pick up the tab for that but this would have to be investigated locally when you check in.
As far as Waikiki is concerned Frommer's gives a few but with no indication if someone will guide you through the tour.