It has been almost 6 years ago when we did a day-trip to the same area from Tokyo. At our hotel, there were plenty of day-trip tour brochure for your choosing. We did not use the tour but took the train and bus for the trip. Did it all in one day.
My suggestion about a tour is to check with your hotel concierge (email him/her ahead of time; or do it while you are there). Coach tours usually have hotel pick up and drop off service. I suspect you have to start the day plenty early (if by coach) and come home late. If you are adventurous (by the way, language should not be a problem if you did enough home work first), go by train. Lots of fun.
As you might have browsed on the web, there are plenty of 2-day trips to the same area. For example:
http://www.japantravel.co.uk/03-21_F810.htm