The Central Park Conservancy offers many fine (free) tours of Central Park, including several in Harlem.
Discovery Walks for Families: Harlem Meer explores the Northeast corner of Central Park, including the plants and animals that live there today.
The North Woods Tour explores the largest of the Park’s woodlands, which includes a 40-acre forest retreat through tumbling waterfalls, rustic bridges and picturesque pools leading to The Harlem Meer.
While you’re at The Harlem Meer, take a walk to Fifth Avenue at 110th Street, where you will fine The Africa Center and new restaurant, Teranga.