I lived in Europe for fifteen years. Loved every minute of it! What, specifically, do you want to know about England or Scotland?
That's my best advice. Take the train, the Underground, the bus, but don't risk driving because you will be very overwhelmed with the difference in driving on the other side of the road and the ENORMOUS roundabouts and the pedestrians everywhere.
Feel free to PM me if you want to chat about travelling in Europe.