We visited Normandy on the HAL Statendam a few years ago. Our port was at Cherbourg though. I wanted to see Omaha Beach but HAL's only excursion was for Utah, which was a "cakewalk" compared to Omaha during the invasion.
There are a lot of private excursion/sightseeing outfits working the invasion beaches out of Cherbourg, so I got onto "roll calls" and found there were a lot of others interested. Unfortunately, my wife isn't the war historical nut I am so she didn't want to do an entire day of touring invasion beaches, so I was on my own. Everybody wanted couples to even out the independent loads, I was wait listed. I never did get on with anybody, after we set sail from Florida the C.C. group met, and I found out it was a no can do for you buddy. I was SOL. First and last time I ever try an independent, hope anyway.
Fortunately, HAL rose to the challenge and put on an excellent all day tour which featured Omaha and the museum at Mulberry B. I was first in line. Mulberry A (USA) and B (British) were the famous secret floating docking areas the British built before the invasion but Mulberry A got wiped out in a storm right after the invasion, so parts of it were taken over to "B".
Cherbourg is quite a ways from Omaha Beach, west, which is probably why HAL originally was going to do only Utah which isn't that far down the coast, east, from Cherbourg. Now, the other three beaches are Sword (at the far east end) and Gold beaches (British) and Juno (Canadian, between the British beaches). Mulberry B was at Gold. Le Havre is a ways northeast of Sword so you should plan in advance for an all day tour if you want to get all the way over to Omaha.
From west to east, the beaches are Utah, Omaha, Gold, Juno and Sword.