I've worked with TMP Directional Marketing, and they are able to target your local search listings from the print and online sides. They are a knowledgeable business when it comes to local search. Check them out here: http://www.tmpdm.com/
I've heard of TMP. They appear to know their stuff. You can also do a search on Google for "local search agency" and you will get a good list of competent agencies.