All Yosemite National Park Tours &amp; Excursions in 2026

Yosemite Highlights Small Group Tour

9 hoursFree Cancellation

Explore Yosemite National Park at your own pace with a private self-guided driving audio tour that removes the need for group schedules or guides. GPS-based narration plays automatically as you drive, helping you understand the park’s landscapes, viewpoints, and history without constant planning. The tour works offline once downloaded and offers lifetime access, making it a flexible option for any visit.

(680)

from $220

Yosemite National Park Self Guided Driving Audio Tour Guide

3 to 5 hoursFree Cancellation

4.3

(54)

from $17

Begin your stargazing adventure by meeting your guide, then sit back and watch as the valley transforms. Thousands of stars appearing, constellations sharpening into view, and, during the right time of year, the hazy band of the Milky Way stretching overhead. Listen as your guide shares captivating stories of our human connection to the night sky. Learn why Venus and Jupiter shine brighter than any star in the sky. Use your hands to measure the stars the way Polynesian navigators did. Use binoculars to get a closer look, then dive even deeper with live telescope viewing! Hear fascinating stories about the history and structure of the universe and how we have found meaning, purpose, and joy within it. And don't forget to keep an eye out for satellites and shooting stars overhead!

Yosemite Nights: 90-Minute Stargazing and Stories Tour

1 hour 30 minutesFree Cancellation

(3)

from $90

Embark on an epic journey through the US West with this self-guided driving and walking audio tour bundle! Explore the wonders of Arches, Bryce Canyon, and Zion, hike the Hidden Valley Trail in Joshua Tree, and marvel at the Grand Canyon and Yellowstone. Each stop offers a unique experience. With bonus highlights like Old Faithful and Delicate Arch, this bundle guides you through the best of America’s western parks. Purchase one tour per car, not per person. Everyone listens together! After booking, you can check your email, then download the Action Tour Guide App, enter your unique password, and access your tour. The preceding steps require good internet/Wi-Fi access. Simply follow the audio instructions and the route from there. New, Lifetime access, no expiry. Use it anytime, on any trip, as many times as you want. This is not an entrance ticket to attractions along the route. Check opening hours before your visit.

US West National Parks Driving and Walking Audio Tour Bundle

3 to 4 hoursFree Cancellation

from $200

Yosemite National Park & Sequoias Private Tour from San Francisco

Special Offer

14 to 15 hoursFree Cancellation

See Yosemite’s most iconic views in one relaxed 3‑hour walk while your naturalist guide brings 15,000 years of geology, wildlife, and human history to life. Enjoy sweeping views of legendary landmarks — from the thundering cascades of Yosemite Falls to the majestic face of El Capitan. Watch Yosemite spring to life with stories of ancient glaciers, indigenous peoples, and wild climbers and conservationists. Whether you’re wandering through the historic Mariposa Grove of Giant Sequoias, or losing yourself in what natives call the “gaping mouth” of Yosemite Valley, every step offers a chance to reconnect with nature. With so much to learn and experience, this guided walk is the perfect start to an unforgettable journey through Yosemite National Park. Book now to reserve your spot and experience Yosemite like never before!

The Evolution of Yosemite: 3-Hour Walking Tour

3 hoursFree Cancellation

(24)

from $140

Experience the monumental scenery of Yosemite on a private, guided half-day hike designed especially for families. Choose from a beginning or moderate hike to suit your family’s experience level, and embark on trails through Yosemite Valley or the High Country. Enjoy spectacular views of one of America’s favorite national parks, and stop for a scenic picnic near a stream, lake, or meadow.

Private Family Hike in Yosemite

4 to 6 hoursFree Cancellation

A drive through Yosemite National Park is one of the most spectacular road experiences imaginable, with the valley’s distinctive granite walls and awe-inspiring rock formations rising up along the curving mountain roads. Enhance your journey with this private self-guided audio tour that gives you a wealth of facts and local tips along with driving directions along your route. The app-based service offers several suggested itineraries and uses GPS to deliver relevant information based on your location.

(37)

from $195

Self-Guided Audio Driving Tour in Yosemite

8 to 16 hoursFree Cancellation

4.1

(86)

from $20

This is an exclusive, tailor-made adventure designed for travelers seeking the very best of Yosemite, and fully immersed in the magic of the mountains. This private experience is just for your group, curated from start to finish based on a short pre-trip questionnaire you’ll receive after booking. Led by passionate local guides who know Yosemite intimately, you'll explore iconic landmarks, hidden gems, and awe-inspiring vistas—stopping for a picnic lunch in a stunning setting. It’s a full-sensory, once-in-a-lifetime kind of day.

Ultimate Yosemite: Private Tour + Lunch

4 to 8 hoursFree Cancellation

4.7

(3)

from $500

Semi Private Yosemite Tour with Ahwahnee Lunch and Hotel Pickup

8 hoursFree Cancellation

4.7

(106)

from $250

There’s so much to see and do in Yosemite, it can be challenging just getting started. This small-group tour does most of the legwork for you, providing transportation and covering many of Yosemite Valley’s top attractions in a little less than one full day of sightseeing. Meet your guide at an adventure outfitter or arrange pickup in Groveland, and see more than half a dozen waterfalls, the Cascades, Half Dome, El Capitan, and more.

Yosemite Valley Discovery Walk

7 hoursFree Cancellation

4.7

(75)

from $180

Embark on an extraordinary adventure exploring Yosemite's legendary waterfalls with a local expert: BRIDALVEIL FALL HORSETAIL FALL ILLILOUETTE FALL NEVADA FALL ROYAL ARCH CASCADE RIBBON FALL SILVER STRAND FALL SENTINEL FALLS VERNAL FALL YOSEMITE FALLS This experience is exclusively for you and the people in your party. Meet your guide in the morning for a fully customizable experience tailored to your preferences, whether for a hiking or car-based tour. Your guide will expertly navigate routes to awe-inspiring viewpoints, ensuring an immersive exploration of Yosemite's natural wonders. Spanning 6 to 8 hours, this experience is sure to ignite your sense of wonder and leave you in awe of Yosemite's majestic beauty! Please note, the prime time to witness waterfalls is spring, with peak flow in March, April, May & June. Some, like Yosemite Falls, may diminish by August. Late fall storms revive some falls, while winter nights coat them in frost, offering a magical winter scene.

Waterfalls of Yosemite - Customizable Private Tour

6 to 8 hoursFree Cancellation

Take in soaring cliffs, alpine meadows, and other natural wonders on a private, guided hiking tour of Yosemite National Park. Tailor this half-day excursion to your interests and ability; your guide helps find your perfect trail into the wilderness. Head off the tourist trail, learn about the history and ecology of the High Sierra, enjoy a backcountry picnic, and admire stunning views of the Yosemite Valley or High Country.

(19)

from $495

Private Guided Hiking Tour in Yosemite

4 to 6 hoursFree Cancellation

4.8

(94)

from $315

Private Yosemite & Glacier Point SUV / Van Tour Including Hotel Pickup

8 hoursFree Cancellation

4.8

(53)

from $1,075

Drive through Yosemite’s stunning landscapes at your own pace. Watch waterfalls explode over cliffs, walk under giant sequoia trees, and gaze up at tall granite giants like El Capitan and Half Dome—all while stories guide you along the way. You can start on any highway that leads into the park. Stop at Tunnel View for sweeping valley views, stretch your legs at Bridalveil Fall or wander among giant sequoias in Mariposa Grove. Walk under trees at Cathedral Beach or stand in the spray at Swinging Bridge. You can even explore Yosemite Village, see the historic Ahwahnee lodge, or hike short paths like Sentinel Dome. The tour uses offline GPS navigation so internet won’t slow you down. It offers tips, turn-by-turn directions, and stays on your device forever. This tour has over 30 stops and 160 audio stories. Download it, drive the roads, and discover Yosemite’s magic your way—mile by beautiful mile.

Yosemite National Park Self-Guided Audio Tour

10 to 14 hoursFree Cancellation

4.6

(5)

from $17

If you just have one day to experience all the wonders of Yosemite, make the most of it with a full-day private Jeep tour that showcases the park’s supersized attractions and amazing ecosystems. Vehicle passes and parking can be tough to come by, so let a guide handle all the driving and logistics while you enjoy the rugged ride—top down optional. Whether you’re into photography, climbing, or wildlife, the itinerary is expertly planned just for your group.

Jeep 4 X 4 Yosemite Park Tour with Hotel Pickup

8 hoursFree Cancellation

(115)

from $1,295

During this tour, families will embark on an unforgettable adventure led by a knowledgeable local guide. As families traverse the trails, they'll discover awe-inspiring photo opportunities and serene moments. The guide will enhance the experience with fascinating insights into Yosemite, sharing captivating stories and educational tidbits along the way. Families will have the flexibility to tailor the adventure to their liking, with the guide accommodating their pace and interests. Whether they prefer leisurely strolls through tranquil meadows or more challenging hikes to panoramic viewpoints, there's something for everyone to enjoy. Throughout the tour, the guide will ensure the safety and comfort of the family, providing expert navigation and assistance. With memories made and bonds strengthened, the Yosemite Family Explorers tour offers an enriching and memorable experience for families seeking adventure and exploration in one of America's most iconic national parks.

Yosemite Family Explorers - Customizable Private Tour

4 to 8 hoursFree Cancellation

Discover Yosemite Valley at your own pace with a self-guided audio walking tour. This immersive experience combines professional narration with GPS guidance, allowing you to explore iconic sites like Yosemite Falls and the Ahwahnee Hotel without the constraints of a group. Uncover the history and ecology of this national treasure while enjoying breathtaking views and learning fascinating stories about its wildlife and landscape. Perfect for curious travelers seeking a deeper understanding of Yosemite's significance, this 45-50 minute, 2-mile walk offers a unique perspective that goes beyond the usual tourist experience. - Self-paced audio tour with expert guidance at your fingertips - Walk through Yosemite Valley, visiting iconic locations like Yosemite Falls - Learn about John Muir's impact and Yosemite’s ecological importance - Enjoy stunning views and insights into local wildlife behavior

(5)

from $300

This walking tour passes right next to Yosemite Falls.

Self Guided Yosemite Walking Tour Explore with Expert Audio Guide

45 minutes to 1 hour 15 minutesFree Cancellation

3.7

(3)

from $12

This fly fishing adventure is a great way to experience the Sierra Nevada while trying your hand at catching all sorts of trout in the Tuolumne and Merced Rivers. Unlike most fly fishing intro courses, this course is focused on conservation and family fun – catch and release your trout with barbless hooks and learn more about the ecology of the river alongside your children. There are no hidden costs, either: all equipment is provided and all license fees are covered.

Family Fun Private Half Day Fly Fishing Adventure

4 hoursFree Cancellation

4.6

(7)

from $215

Explore the iconic landscapes of Yosemite Valley and the majestic giant sequoias on this guided naturalist hike. This full-day adventure features dramatic waterfalls, colorful vistas, and insights into the park's geological wonders. The tour includes a leisurely 3-mile round-trip walk to a grove of giant sequoias, allowing you to appreciate their grandeur up close. Ideal for nature enthusiasts and families (ages 8+), this tour combines expert guidance with transportation, a lunch voucher, and snowshoe rental when needed for winter excursions. - Full-day guided tour from 9am to 5:30pm with a naturalist guide - Explore Yosemite Valley’s icons and hidden gems - 3-mile round-trip walk to see giant sequoias - Suitable for ages 8 and up, with a maximum group size of 9

Wonders of Yosemite: Explore Yosemite Valley and Giant Sequoias

8 to 9 hours

from $260

This adaptive full-day tour makes the natural wonders of Yosemite National Park accessible to travelers of all mobility levels. You’ll view iconic Yosemite landmarks including the Half Dome, Yosemite Falls while your guide shares insights about the landscape. Using paved trails suitable for wheelchairs, walkers, and scooters, the small-group tour is designed to include all participants.

Yosemite Valley & Glacier Point Adaptive Tour

6 hoursFree Cancellation

Discover Yosemite National Park's top sights in just half a day on this small-group, guided hiking tour. Select a specific hike for your skill level, with options ranging from beginner to challenging, and benefit from your guide's commentary and instruction along the way. Depending on the route, look forward to spotting Glacier Point, Sentinel Dome, El Capitan, Half Dome, and more, and experience the natural wonders of this renowned landscape up close.

(39)

from $180

Guided Yosemite Hiking Excursion

5 hoursFree Cancellation

4.8

(80)

from $215

Discover Yosemite is honored to have received Trip Advisors Traveler’s Choice award for being in the top 10% of activities in the World for each of the past two years. We go to great lengths and expense to assure an excellent experience for all who join us on our Yosemite Tours. If you are looking to enjoy the majesty and natural beauty of Yosemite National Park with an expert driver/guide who knows where to go, and how to get there and all about what you are seeing, join us for an unforgettable day in Yosemite. We’ll get you to the iconic viewpoints so you can capture the beauty of this Crown Jewel of National Parks with spectacular photos to commemorate your adventure. We include lunch, snacks and water on all our full-day tours, so you don’t have to take time out from seeing the sights to wait in line. Our vehicles are impeccably cleaned and rigorously maintained for your comfort and safety. Itinerary subject to change due to weather or other conditions beyond our control.

Yosemite Winter Highlights Small Group Tour

7 hoursFree Cancellation

Hwy 140 Route Glacier Point and Yosemite Valley Small Group Tour

(39)

from $200

9 hoursFree Cancellation

Yosemite Highlights Small Group Tour

(8)

from $200

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Top Attractions in Yosemite National Park

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What are people saying about Yosemite National Park

Tia_M, May 2026

Absolutely Worth Every Penny — Book This Tour!

Beautiful, fun, and adventurous — we came home happily exhausted! Our guide Tyler was phenomenal. He’s a true wealth of knowledge and went above and beyond to find us secret spots, help capture incredible photos, and even hiked with us among the sequoias. My husband and I thoroughly enjoyed every single minute. The tour is perfectly structured — a great mix of scenic drives and generous time at each location to explore at your own pace. At high elevation, having hydration and snacks provided was such a thoughtful touch. The bus was clean, comfortable, and well-maintained. Our group was friendly and welcoming, which made the whole experience even better. Highly recommend for couples, nature lovers, and anyone looking for an adventure with a knowledgeable, passionate guide.

Yosemite National Park & Sequoias Private Tour from San Francisco

Joann_B, May 2026

Yosemite with Pablo

Our day trip to Yosemite from San Francisco with Pablo was wonderful. Pablo was very considerate, making sure that all of our needs were satisfied. He knew all the best viewing and photo op locations in Yosemite. We never felt rushed at any of the stops. The park of course is spectacular. Pablo knew so much about the park and its history and he truly seemed to enjoy the nature he was guiding us to. It was a 14 hour day that did not feel at all like a long day thanks to Pablo. Highly recommend this tour with Pablo if you are visiting San Francisco.

Private Yosemite & Glacier Point SUV / Van Tour Including Hotel Pickup

Carson_S, May 2026

Rainy Tour but Great Experience

Our guide, Laura Ullmann, greeted us at our hotel at the agreed time. Laura was cheerful and friendly, she explained that the planned tour could be adjusted to suit our preference. It was a rainy day so views of the higher elevation sights were limited. We all made the best of the rainy day, and Laura’s knowledge of the park, and her historical stories made our day very pleasant. Laura provided a great experience, despite the rainy weather. The vehicle that was provided was nearly new and very well kept. Our friends visiting from Idaho are anxious to make a return visit, hopefully with better weather. We will definitely try to book another tour with Crossroads Tours, and with Laura as our guide again.

Jeep 4 X 4 Yosemite Park Tour with Hotel Pickup

LINDA_K, Apr 2026

What a perfect day…

It was a honor to spend the day with Daniel…he is so knowledgeable…so interesting…and so loves his job. We saw everything we wanted to see at Yosemite on this memorable day with Daniel. Thank you for your time, expertise and service. It doesn’t get any better than a day like this.

Semi Private Yosemite Tour with Ahwahnee Lunch and Hotel Pickup

Deepa_D, Apr 2026

Excellent

Trip was excellent and everything was on time. Our travel guide Laura was awesome! She gave us enough breaks, explaining about the valley as we were traveling. They provided us indian vegetarian meal which was excellent. We were honestly not expecting indian meal so it was good surprise for us.

Yosemite Valley Discovery Walk

Karen_M, Oct 2025

What a perfectly wonderful day in Yosemite!

Perfectly wonderful day! Did the ‘Discovery Walk’ with Nate in Yosemite NP. Nate was fun, relaxed, knowledgeable and kept us engrossed in every detail about the park. He has such a great respect for Yosemite. He patiently answered all our questions. We hiked the Valley for 5 hours and saw every hi-light. No driving, no having to find a parking spot, just hiking off the beaten paths, away from the crowds and living in the beauty of Yosemite. No worries, just a chance to be in one of the most incredible parks in the U.S. and learning everything about its history and what’s happening currently. Have to do this tour!

Yosemite Valley & Glacier Point Adaptive Tour

Kam_S, Jul 2025

Great one day tour for Yosemite highlights

That was a fantastic one day easy track around Yosemite national Park. Our guide from echo tours was the best – she has lived and hid and camped in this area for decades. She is so knowledgeable and interesting as well as interested in our family. We went to glacier point which is a must say plus hit the high. If you just have one day, this is absolutely that tour you should take.

Guided Yosemite Hiking Excursion

Fatima_B, Jul 2025

5STARS All the way!!!

The website was easy to navigate. I chose this company because we had a limited time in Yosemite and covered all the must see sights. Our guide Erin was AMAZING!!! She was easy to connect with, understood our fitness levels and adjusted accordingly, taught us a lot about Yosemite and was a true pleasure for our 5 and a half hour hike. Would highly recommend!!!

Private Family Hike in Yosemite

DavidNEIL_R, Jun 2025

A perfect morning at Yosemite

The beginner hike consisted of two out and back trails at Sentinel Dome and Grant’s Point, each were about 1.1m each way, so just over four miles. The elevation gain was very doable and the views were priceless. I am so thankful we invested in this guided hike with John. We were blessed with cool temps and a breeze which added to this already perfect morning.