It is possible to tour the Palace of Westminster during the summer recess. Details of the tours can be found here. The Adult price is £11.70. As an alternative you can take a virtual tour. These are available at
http://www.parliament.uk/about/virtualtours.cfm
There are also some interesting materials on the Palace and its history and work at http://news.bbc.co.uk/1/hi/programmes/bbc_parliament/7098934.stm