Sausalito
Walking Tours

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Our most recommended Sausalito Walking Tours

From San Francisco: Muir Woods Guided Bus Tour

1. From San Francisco: Muir Woods Guided Bus Tour

Hop on board a bus tour of Muir Woods! Experience the awe and wonder of one of California’s oldest redwood groves as you stroll through dedicated paths of 1000-year-old redwood trees. Your tour will begin with a 45-minute, fully-narrated scenic drive that heads across the iconic Golden Gate Bridge and into coastal mountains on the Marin Headlands. Arrive at Muir Woods National Forest where you will be provided park entry tickets and have 1.5 hours to explore the park at your own pace - maps detailing walking trails will be available at the Muir Woods Visitor Center. After exploring the park, enjoy a scenic drive to the coastal town of Sausalito. This beautiful seaside Mediterranean-style town offers a wide selection of distinctive boutiques, restaurants, parks, cafés, and unique art galleries. Guests may choose to depart from Sausalito and return on their own via ferry or remain on the bus and return to designated drop off points within San Francisco. 

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San Francisco Bay: Adventure Boat Tour

2. San Francisco Bay: Adventure Boat Tour

Travel along the San Francisco Bay in a small group on a boat tour. Travel faster and go farther out into the bay than most other boat tours. You will be as close as possible to the sights and wildlife, in a personal setting.  Depart from the world famous Pier 39. You will be outfitted with weather appropriate gear to keep you warm and dry from the occasional splash. Take in the historic waterfront from a new angle. Make a quick visit to the world famous Pier 39 sea lions, where you can see them eye to eye. There is no need for binoculars on this trip because you will see everything up close. Listen to the narration from your expert captain and learn something new about this historic area. See the waterfront in a way that is unlike any other experience on the bay. Take photos, make memories, and enjoy one of the finest ways to see it all up close. This small group boat tour is limited to 12 guests which provides an intimate family-friendly experience, perfect for adults, seniors, youth, and children ages 5 and older. You will get an opportunity to get up close to the world famous Alcatraz prison, once-home to some of the most notable criminal masterminds. Learn about some incredible points of interest, such as Coit Tower, the Golden Gate Bridge, the Palace of Fine Arts, the Presidio, the Ferry Building, Treasure Island, and other historic landmarks.

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San Francisco: Exclusive Bike, Beer, and Boat Tour

3. San Francisco: Exclusive Bike, Beer, and Boat Tour

Experience the best of the San Francisco bay with this combination tour package. This half-day adventure begins with a guided bicycle tour through San Francisco, beginning at the picturesque Aquatic Park in Fisherman’s Wharf. Take a peek at the famous sea lions before heading down the National Park bike path through Fort Mason, the Marina, and the Presidio. From there, you’ll cycle across the iconic Golden Gate bridge and into Sausalito, a charming bayside town known for its quirky architecture and stunning waterfront views. After all the biking, you'll sate your appetite with the included $20 restaurant voucher, good for any food or beverages at a local hotspot known for their spit-roasted chickens and award-winning burgers. Wet your whistle with a house-made soda or your choice of local beers and wines. The guided portion of the tour ends here, but your all-day bike rental allows you to keep exploring at your leisure. Once you’re done criss-crossing through Sausalito, hop back on a scenic ferry ride to San Francisco, taking in the views of Alcatraz, the Golden Gate Bridge, and the San Francisco skyline. With recommendations from your guide, continue your venture through San Francisco, and return your bike when you’re ready.

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San Francisco: Golden Gate Bridge to Sausalito Bike Tour

4. San Francisco: Golden Gate Bridge to Sausalito Bike Tour

Experience San Francisco with the wind in your hair and the sun on your skin on this stunning city tour that takes you on a ride across the iconic Golden Gate Bridge. Truly the best way to see the bay, this tour is perfect for families and individuals seeking an up close and personal look at the city’s most celebrated landmark. Start the tour at the picturesque Aquatic Park in Fisherman’s Wharf, and then ride through the mostly flat National Park and through to Fort Mason, the Marina, Presidio National Park, and then onto the famous Golden Gate Bridge. Along the way, your local guide will share entertaining and educational information with you, including the history behind the Golden Gate Bridge and the city itself. Marvel at the stunning views across the bay as you cross the bridge on the sidewalk, followed by a 10-minute downhill ride into the charming bay side town of Sausalito. The tour ends here but your all-day bike rental allows you to explore the area at your own leisure and return the bike once you’ve explored it all. Why not grab a bite to eat, relax, shop, and enjoy Sausalito’s famously wonderful weather before taking your bike on the ferry back to San Francisco.

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From San Francisco: Muir Woods National Monument Guided Tour

5. From San Francisco: Muir Woods National Monument Guided Tour

Discover the coastal redwood forest at Muir Woods National Monument on a guided tour from San Francisco, with entry tickets included. Cross the famous Golden Gate Bridge, marvel at California’s wildlife, and enjoy a sightseeing bus tour of Sausalito. Meet your guide in San Francisco to start your experience. Board the bus and drive towards Muir Woods National Monument, where you’ll enjoy 1.5 hours inside the forest. Admire the towering sequoia trees as you wander along hiking trails through the forest. Learn about the region from your guide as you appreciate the surrounding nature. Continue to Sausalito, a coastal city with sweeping views over the bay. Pass the main sights as you drive through the town on your return to San Francisco. If you want to explore Sausalito on foot, you can choose to get off the bus and see the city at your own pace. Afterwards, you'll make your own way back to San Francisco by ferry (tickets not included).

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5-Day Wild West Tour From Los Angeles

6. 5-Day Wild West Tour From Los Angeles

Experience the Wild West at its best on your 5-day tour that includes visits to Santa Barbara, Solvang, and San Francisco in California. Your journey continues on to Fabulous Las Vegas before returning to Los Angeles. Day 1 Monday Departing north, travel along the spectacular and scenic California Coast to Santa Barbara. Spend some time in Santa Barbara and then visit a Spanish Mission. Learn how these religious outposts were key in the development of the entire region. Continue to Solvang, a quaint Danish community, and browse in the local shops. Your trip continues along Highway 1 through Big Sur to charming Carmel, home to actor Clint Eastwood. Enjoy some free time to stroll through town before heading on to Silicon Valley for overnight. Overnight: SpringHill Suites by Marriott Oakland Airport Day 2 Tuesday See for yourself why San Francisco is considered one of the most beautiful cities in the world. Start your day at the Fisherman’s Wharf with a cruise on the world famous San Francisco Bay, under the Golden Gate Bridge, and around the notorious Alcatraz Island. Visit Pier 39 for a leisurely lunch and a peek at the sea lions before an afternoon tour that takes in all the city’s famous landmarks, including the Golden Gate Bridge, Union Square, Chinatown, and the magnificent Nob Hill neighborhood, home to the rich and famous. Our tour ends with a night view of the city from the Bay Bridge. Overnight: Monterrey - Holiday Inn Hotel Day 3 Wednesday Today’s route goes through the farmlands of the Joaquin Valley to Yosemite National Park. This 1,200 square mile wonderland of forests, lakes, and waterfalls is located in the Sierra Nevada mountains. Stop at El Capitan, Bridal-Veil Falls, Half Dome, and continue for a walk from the Yosemite Visitor Center to reach the highest waterfalls in North America: the 730 meters Yosemite Falls. In the winter depart south to route no 1, for a visit to the world famous Hearst Castle, built by the newspaper baron William Randolph Hearst. Tour the famous house filled with antiques and see why the castle served as a playground for the rich and famous for the first half of the 20th century. In the evening, drive south towards Las Vegas. Overnight: Comfort Suites Stevenson Ranch Day 4 Thursday Today’s route is east through the desert and Death Valley to arrive in the "Entertainment Capital of the World", Las Vegas. On the way to Las Vegas, you will stop for lunch at the outlet mall in Barstow, which is filled with famous brand name stores like Levi’s, Nike, Reebok, Timberland, and more. In the evening, take a tour of the Las Vegas Strip to see some of the truly amazing hotels and fantasies that are built in the middle of the desert, such as Caesar’s Palace, Mirage, Luxor, Paris, Mandalay Bay, New York New York, Treasure Island and more. Finish off the evening at one of the many shows or try your hand at one of the many casinos. Overnight: Harrah's Hotel Day Day 5 Friday Enjoy a leisurely breakfast before leaving Las Vegas on your way to Hoover Dam, one of the great engineering marvels of the modern world. Learn how this man-made phenomenon was built and its impact on the area. After your visit head west, with a stop at the state line for one last chance to win big on the slot machines, before returning to Los Angeles.

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Other Sightseeing Options in Sausalito

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What people are saying about Sausalito

Overall rating

5.0 / 5

based on 2 reviews

Excellent guide. Quick (1.5 hr) trip into Muir Woods. I took the hour option (bridge 2) but didn't know it was closed near the end, so I ended up going back the way I came. But it was a great stop with an optional drop-off in Sausalito and you take the ferry. Knowledgeable and fun guide, and rangers in the park are helpful too.

I really enjoyed this activity. This was my first time visiting the Muir Woods to see the Redwoods. The tour pace was good and we were allowed sufficient time on our own to explore them.

This was a great trip! We got to see the bay and all the sites. Captain Charles was great telling us all the history of the area. I highly recommend this trip.

A great few hour trip out of the city. Guide Grady was entertaining and knowledgeable. Would definitely recommend!

The trees were tremendously and straight. The forest was comfortable and shady.