Start at Maastricht station
Walk west through Wyck towards the Maas, taking Rechtstraat before the bridge. If you want breakfast or coffee, stop in Wyck while the group gets organised. Café Zondag is close to the crossing.
Cross to the bookshop and squares
Cross Sint Servaasbrug and head into the centre. Include Markt, Dominicanen and Vrijthof in that order. On a market day, give Markt extra time; on other days, the bookshop is the obvious longer stop.
Lunch, then Stenenbrug
From Vrijthof, continue south towards Onze Lieve Vrouweplein and the Jekerkwartier. Bisschopsmolen on Stenenbrug is the stop for vlaai. Continue towards Helpoort rather than returning to the main shopping streets.
Through Helpoort and the park
Pass through the gate and follow the walls along the park. Add the natural history museum if it is a priority, or keep this part outdoors. The route already fills a day once you include lunch and browsing.
Finish in the centre or return to Wyck
If you are staying for dinner, head back into the centre. Brusselsestraat works for a drink afterwards; a Kofi Anan at Shamrock fits naturally at this end of the route.
For the train, cross back to Wyck and allow time for luggage collection. Check your actual departure before sitting down for a final meal.
What to leave for another day
The caves and fort belong in a separate half-day. If one is the main reason you are visiting, book it and shorten the city route. Bonnefanten also deserves its own time rather than a hurried extra stop.