Top San Francisco Adventure Tours

Ride a GoCar all over San Francisco as it navigates for you and provides a guided tour. Take as long as you like to explore the city with a storytelling car as your guide. Learn all about the city as you visit spots such as the Golden Gate Bridge, Fisherman's Warf, Golden Gate Park, and much more.

A cruise on the San Francisco Bay offers a unique perspective of the city's iconic landmarks, including the Golden Gate Bridge and Alcatraz Island. Glide across the waters and soak in stunning views while learning about the rich history of the area from onboard commentary. This experience is perfect for those looking to capture unforgettable photos and enjoy a leisurely day on the water. Whether you're a local or visiting for the first time, the Bay Cruise promises a memorable outing amidst the beauty of San Francisco's waterfront. This tour is an open ticket . The cruises start at 11:00am and end at 6:00pm. You can go any time that works with your schedule. Just show up 20 minutes before the departure.

Cross the Golden Gate Bridge to a canyon filled with ancient coastal redwood trees, also known as Muir Woods National Monument. Stroll through Mother Nature's redwood alleys with majestic 1,000-year-old trees towering 260 feet tall. Take a scenic drive through the seaside town of Sausalito, famous for its sweeping views, timeless sophistication, local boutiques, and cafes. Then hop aboard a 30-minute ferry ride across San Francisco Bay to Alcatraz Island, a former prison now operated by the National Park Service. Known as “The Rock,” the prison was famous for housing inmates like Al “Scarface” Capone and the “Birdman” Robert Stroud. Listen to a 45-minute cell house audio tour available in 11 languages. Hear stories from inmates themselves, as well as other former residents of the island. Step inside a prison cell and get a feel for what life was like during that infamous era. Return to San Francisco at your own pace; ferry boats return every 30-40 minutes.

Combine an Alcatraz visit with your choice of a bike rental, sightseeing bus pass, or Bay with this convenient combo. Head out to Alcatraz on the ferry with your prepaid ticket; buying in advance avoids sold-out days or times, which are frequent. Explore the island with an included audio tour, then head back to San Francisco to explore further on your own with a bike rental, bus tour, or cruise.

Discover the highlights of Yosemite Park in just one day with this hassle-free private tour from San Francisco. Travel by SUV or minivan and soak up the scenery on the drive to the park. At the park, see the top highlights such as the Mariposa Grove of Giant Sequoias, Glacier Point, Tunnel View, Bridalveil Falls, Valley View, and more.

Experience Muir Woods National Monument and the quaint waterfront town of Sausalito on a half-day tour. Travel across the Golden Gate Bridge on a guided day trip that includes pickup in a convenient location in downtown San Francisco, transportation, and National Park entrance fees. Enjoy free time among the ancient redwoods, then explore Sausalito at your own pace before returning to San Francisco by vehicle or by ferry (separate expense).

Known for its steep granite cliffs, waterfalls, towering sequoia groves, and diversity of wildlife, Yosemite National Park is something you don’t want to miss. On this small group day trip, you can leave the logistics to a tour guide so all you have to do is enjoy the great outdoors. You have both guided sightseeing and free time, ensuring you see the UNESCO World Heritage Site’s major attractions, like Half Dome, Yosemite Falls, and Yosemite Valley, with the chance to explore more of the park however you wish.

Explore Northern California with the ultimate self-guided driving and walking tour bundle! Visit the serene beauty of Lake Tahoe, the geothermal wonders of Lassen Volcanic National Park, and the towering trees at Muir Woods and Redwood National Park. Explore Point Reyes’ rugged coastlines, the vibrant city of San Francisco, the innovation of Silicon Valley, and Napa & Sonoma’s famous wine country. This bundle offers the quintessential Northern California adventure! Purchase one tour per car, not per person. Everyone listens together! After booking, you can check your email before downloading the Tour Guide App by Action, entering your unique password, and accessing 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.

Experience Alcatraz from the water while uncovering the stories that made “The Rock” one of America’s most infamous prisons. Rather than simply viewing the island from afar, hear firsthand accounts from former guards and inmates through a smartphone audio guide as you cruise around Alcatraz. Along the way, enjoy views of San Francisco Bay landmarks, including the Golden Gate Bridge, with skip-the-line boarding for a seamless experience.

Cycle along San Francisco’s waterfront—and enjoy some of the city's most scenic views—on this guided bike tour. Pass Fisherman’s Wharf and the historic Presidio, cross the iconic Golden Gate Bridge, and admire Alcatraz Island and the Pacific Ocean. After arriving in charming Sausalito, take your time exploring before catching the ferry (additional expense) back to San Francisco. With a one-day bike rental, you can continue your adventure at your own pace.

Enjoy a totally new way to explore San Francisco and Sausalito—and see the sights all at your own pace—when you rent a private GPS touring car. Pick a departure time that works best for you, make your own way to the rental facility, grab helmets, and get acquainted with the vehicle. Then, set off: assisted by a map and the car’s GPS capabilities, you can cross the Golden Gate Bridge, see Sausalito, go down Lombard Street, and much more.

Explore San Francisco's main attractions on your own during this self-driven GoCar tour. Listen to entertaining stories and enriching context about each location as you drive yourself between top waterfront sights, including the Golden Gate Bridge, the Presidio, Fisherman's Wharf, and Lombard Street. Park and get down whenever you'd like. Helmets, a full tank of gas, and GPS-based maps and navigation are included.

Discover the rugged beauty of the Sierra Nevada and Yosemite National Park on this full-day tour from San Francisco. Enjoy early park entry and comfortable hotel pickup from major San Francisco hotels. Spot supersized natural wonders such as Half Dome, El Capitan, Bridalveil Falls, and sequoia groves, and spend several hours exploring the park’s wonders on your own. Non-U.S. residents aged 16 and older pay an additional park entry fee.

Enjoy unique aerial views of San Francisco on this private guided airplane tour. Take in the Golden Gate Bridge and Alcatraz from above, among other city highlights, as you escape the hustle and bustle and head up into the air. Fly from the suburb of Hayward in a Cessna plane with a pilot-guide at the helm. They'll fill you in on the city's history and culture through guided commentary.

Take a trip around San Francisco in a luxury Lincoln Sedan. Our tours can accommodate up to 4 people, it is a private tour. Book with our friendly and informative tour guides today for SF ultimate experience. This Tour will take you across the Golden Gate Bridge to walk among old-growth coast redwoods of the famous Muir Woods National Monument Park and admire the beautiful seaside Mediterranean style City of Sausalito. On the Muir Woods and Sausalito Tour, you will cross one of the most famous landmarks, the Golden Gate Bridge, while you could admire the Art Deco style of The Bridge and the skyline of San Francisco, the Bay, and Alcatraz Island. We will be heading the Muir Woods National Monument through the coastal mountains of the Marin Headlands along with the Mount Tamalpais. Muir Woods National Monument You have a free walk of 1 hour and 15 minutes to see the world's impressive highest trees and feel the magic atmosphere while you enter "quietly in the Cathedral Groove."

Set your own pace as you experience driving a GoCAR electric vehicle. Head out from San Francisco, travel to the Golden Gate Bridge, and then journey to Sausalito. Choose how often you want to stop, rest, or snap photos of the local landmarks. You can even park your vehicle and take a stroll along the bridge if you choose.

For all the joys of independent travel with a speedy tour vehicle included, don't miss this GPS-guided adventure that's perfect for exploring San Francisco at your leisure. Grab an included map, and hop into your talking car for a full day of sightseeing. From the Painted Ladies to the Golden Gate Bridge, Fisherman's Wharf to Coit Tower, you can see the best of the city in just a few hours with the freedom to drive yourself.

Our classic sailing yachts are the perfect venue for your group! Treat your family and friends to a spectacular private sail around the San Francisco Bay. While our boats are coast guard licensed for 34 passengers, we are limiting to groups of 24 or less for comfort and class. Price includes entire boat, captain and crew as well as a customary gratuity. You can stick with our standard route or tell us where you want to go. Its your boat and your party.

See San Francisco’s top sights without dealing with traffic, parking, or crowded tours. This private open-top Jeep experience offers a flexible, personalized way to explore the city, with unobstructed views and the freedom to focus on what interests you most. Travel comfortably between iconic landmarks while enjoying a more intimate, hassle-free sightseeing experience.

Soar over the legendary Alcatraz and Angel Island during our introductory helicopter tour! Great for travelers with robust agendas, or families and friends taking flight for the first time. Revel in stories of the famous Bay Islands as you take flight off the helipad in Mill Valley. Your pilot will navigate orbital views for guests while island-hopping over historic Alcatraz and Angel Island. Learn about the Escape from Alcatraz and see the buildings on this rocky outcropping from above. A flight pass offshore San Francisco before a smooth landing at Commodore Heliport in Marin completes the most unique way to see these iconic landmarks.

Take pictures at the Golden Gate Bridge near Lone Sailor Monument. Visit Muir Woods: coastal sequoias - tallest trees in the world. Visit Sausalito: a beautiful little town with stunning views of the Bay, Bridges, and downtown SF. Eat Lunch in one of many seafood restaurants. Visit souvenir shops and art galleries. Visit Fort Baker-Cavallo Point, a military base just under the Golden Gate Bridge. Visit Marin Headlands. See panoramic views of the ocean and the bay. Visit 923-foot high Hawk Hill where a coast artillery battery was built during WWII to protect the Bay entrance. Visit the world’s largest marine mammal hospital where injured, ill, or abandoned sea animals are rescued, rehabilitated, and released. Visit the Nike Missile Site, the last line of defense against air attack. Visit Point Bonita Lighthouse, located at the Bay entrance, a 56-foot tower, built in 1855 at 306 feet above sea level

Explore America's favorite national park on a 3-day lodging tour that takes you off the beaten path to trails and sights unseen by most who venture here. You'll enjoy three days and two nights in a comfortable hotel, hiking and swimming in a fun-filled, friendly atmosphere.

Boats that usually take groups out on the San Francisco Bay can be super crowded and it can even be hard to see the views. This San Francisco Bay Private Sailboat Cruise takes just you and your group out on the water, so you never have to worry about missing out on seeing something. See popular spots like Alcatraz Island and the Golden Gate Bridge or customize your time on the bay.