In fact, yes, Carnegie Hall does indeed offer public tours. These fantastic tours are available for individual and groups every day of the week. They have four tours on Monday through Friday at 11:30AM, 12:30, 2 and 3 PM, they also have an 11:30 and 12:30 tour on early Saturday and on at 12:30 PM on Sunday.
The Carnegie Halltours are approximately one hour a piece and they start in the main lobby of Carnegie Hall. Information regarding the the tours at Carnegie Hall can be found the website listed in the source section at the bottom of my answer. You can even find out by calling their telephone number at (212) 903-9765 for more information or you want to book large group tours.
Carnegie Hall 881 Seventh Ave New York, NY 10019-3210.
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