You can check the nearest Tourist Information Centers in each town, or mail to:
Add: 109, Jalan AmpangKuala Lumpur 50450 Malaysia
Tel: +60 3 9235 4848
Some hotels can arrange sightseeing tours with minimum fee package. This can be done prior (you should check out the promotion offer that are available at official hotel website) or upon check in.
You can also contact tour agents directly upon arrival.