We know of no tours advertised to Lesotho but it would be worth asking one of our sponsors who is based in South Africa.
Trip reports for Lesotho are hard to find, however it is worth searching through comprehensive South Africa reports as they may include areas of Lesotho.
The best way to visit Lesotho is by car as no commercial flights service the country and public transport is unreliable. A car hired in South Africa, if arranged, can be driven into Lesotho. A 2wd vehicle is adequate unless one is planning to enter Lesotho via Sani Pass, which in the dry season is drivable with a 2wd - however, this depends on your car hire company’s sense of humour
Guidebooks, travel companies and websites provide much of the advice one needs, but key points warrant repetition here: (1) be aware of the risk of malaria and seek current advice, sleep in a sealed tent or under a net and take prophylaxis as recommended; (2) always ensure you have sufficient water and some method of purification (even if this comprises a pot and a campfire for boiling); (3) do not underestimate the danger of being in the sun for too long, ensure you use sun-block, drink plenty of water and wear a hat; (4) be aware of the risk of AIDS; (5) ensure that you take a reasonably-equipped first-aid pack with you including supplies of hypodermic and suturing needles. See the following 2 websites or your local embassy website for the latest safety and travel information: US Travel and UK FCO.