Just go over there from HK. At the "gate" (customs and immigration), you'll find a host of taxicabs, vans, and other touring company vehicles just waiting to show you around (for a very reasonable price, by Western standards). Get in and go. It takes about an hour or two to go around the whole place. They stop at various places for you to look around. Many tour operators at least have a smattering of English knowledge. On your way over (by ferry?), you'll find phrase books you can use to give directions.