Take Heathrowexpress or Piccadilly Line into West End/Soho/China Town.
Should take 20 mins by Heathrow Express to Paddington then 10-15 mins to central London or it's about an hour by Piccadilly Line.
Piccadilly Circus, China Town, Leicester Square, Trafalgar Square, Oxford St, Bond St, Regent St, Green Park, all near each other.
Or if you can't leave the airport, go eat at Gordon Ramsay's Plane Food in Terminal 5.
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