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If you come by car, you're better off leaving it in one of the parking lots around the perimeter of town, as driving is nearly impractical in most parts of the city center. Practically unchanged since medieval times, Siena is laid out in a "Y" over the slopes of three hills, dividing the city into terzi (thirds). Although the most interesting sites are in a fairly compact area around the Campo at the center of town, be sure to leave some time to wander into the narrow streets that rise and fall steeply from the main thoroughfares, giving yourself at least two days to explore. At the top on the list of things to see is the Piazza del Campo, considered by many to be the finest public square in Italy. The Palazzo Pubblico at the lower end of the square is worth a visit. The Duomo is a must-see, as is the Cripta.
It's a joy to walk in Siena—hills notwithstanding—as it's a rare opportunity to stroll through a medieval city rather than just a town. (There is quite a lot to explore, in contrast to tiny hill towns that can be crossed in minutes.) The walk can be done in as little as a day, with minimal stops at the sights. But stay longer and take time to tour the church building and museums, and to enjoy the streetscapes themselves. Several attractions have reduced hours Sunday afternoon and Monday.
The Duomo's 14th-century Gothic Baptistery was built to prop up the apse of the cathedral. There are frescoes throughout, but the highlight is a large bronze 15th-century baptismal font designed by Jacopo della Quercia. It's adorned with bas-reliefs by various artists, including two by Renaissance masters: the Baptism of Christ by Lorenzo Ghiberti (1378–1455) and the Feast of Herod by Donatello.
