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Explore Muir Woods, Sausalito, and San Francisco Bay with this 6-hour combo tour including a guided redwood walk, charming seaside village, and bay cruise from Pier 39.
This Muir Woods and Sausalito Tour Plus Bay Cruise offers an engaging way to experience some of California’s most iconic sights in a single day. Priced at $133 per person and lasting approximately 6 hours, this tour combines nature, scenery, and small-town charm. It departs from Pier 39 in San Francisco, making it convenient for visitors staying downtown. The tour features a guided walk among ancient redwoods, a charming stroll in Sausalito, and a one-hour narrated bay cruise. With comfortable indoor and outdoor seating, and free wireless onboard, this trip is designed to be both informative and relaxing.
The average booking window of 35 days in advance reflects its popularity, and the 4.0-star rating from over 500 reviews shows it generally meets expectations. The tour is particularly suitable for those who want to see nature’s giants, explore a picturesque seaside town, and enjoy spectacular views of the Golden Gate Bridge and Alcatraz. Keep in mind, the order of activities can vary depending on logistics, and the tour does not include hotel pickup or drop-off.


This tour begins at Pier 39, a lively waterfront hub well known for its shops, restaurants, and street performers. The 7:40 am departure ensures a full day of sightseeing, with the return to Pier 39 at the end of the cruise allowing plenty of time to explore Fisherman’s Wharf afterward. The coach bus used for transportation is air-conditioned and equipped with free Wi-Fi, making the journey comfortable and informative through onboard commentary.
The group size is up to 40 travelers, which strikes a manageable balance between intimacy and social atmosphere. The meeting point is near public transportation, easing access for those staying in central San Francisco.
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The tour’s journey begins with a drive across the Golden Gate Bridge, one of the city’s most famous landmarks. Travelers stop at Vista Point, where ample time (about 10 minutes) is allocated for photos of the bridge, Alcatraz, and the city skyline. The guide provides context about the bridge’s history and engineering marvels, helping visitors appreciate its significance.
Driving through the Robin Williams Tunnel, also known as the Rainbow Tunnel, offers a scenic transition into the Marin County area. The tour also passes through upscale neighborhoods featuring boutique shops and fine restaurants, providing a glimpse of the area’s affluent lifestyle.

The highlight for many is the visit to Muir Woods National Monument, an easy 90-minute stop with admission included. Here, visitors walk among some of the oldest and tallest trees in the world, with a variety of paths and flora including Stellars jays, ladybugs, horsetail ferns, and banana slugs.
The natural quiet and majestic redwoods make for a memorable experience, especially if you enjoy outdoor walking. The tour notes that hiking longer trails is possible if time permits, and that the forest’s diversity extends beyond trees, offering opportunities to see local wildlife.

After Muir Woods, the tour stops in Sausalito, a Mediterranean-style village renowned for its quaint shops, art galleries, and waterfront restaurants. The one-hour free time allows visitors to stroll along the waterfront, browse craft shops, or enjoy a snack (own expense). The charming atmosphere and peaceful vibe are often praised in reviews, and many visitors appreciate the opportunity to extend their stay using the optional ferry back to San Francisco, although ferry tickets are not included.
Some reviewers express that more time in Sausalito would enhance the experience, suggesting a slight adjustment to the schedule could improve overall satisfaction.

From the Fisherman’s Wharf area, the tour’s highlight is the narrated bay cruise. The boat departs from Pier 39 and offers up-close views of the Golden Gate Bridge from the water, including gliding under the bridge—weather permitting. The cruise also passes Alcatraz Island, famed for its former prison, and sees the San Francisco skyline and sea lions basking near Pier 39.
The cruise is appreciated for its comfort, with indoor and outdoor seating, but some reviews note that the guide is a recording, which may lack the engagement of a live narrator. The cruise provides great photo opportunities and a fresh perspective of the city.

The tour’s schedule includes several key points:
– The Golden Gate Bridge with a stop at Vista Point for photos.
– The Robin Williams Tunnel, offering scenic views of Sausalito as you emerge.
– A 1 hour 30-minute visit to Muir Woods, with admission included, to walk among the ancient coast redwoods.
– A one-hour stop in Sausalito, allowing a walk along the waterfront and browsing art galleries.
– The Bay Cruise from Pier 39, lasting approximately one hour, with a narrated journey past Alcatraz, the Golden Gate Bridge, and the city skyline.
The order of stops can change depending on the Muir Woods departure time, but all major highlights are included in the overall experience.

The tour starts promptly at 7:40 am, leaving from Pier 39, and ends back there, giving guests sufficient time to explore Fisherman’s Wharf afterwards. Hotel pickup or drop-off is not included, so guests should plan to arrive at the meeting point on their own.
While the tour is accessible for most, reviews mention that tall individuals may find the bus cramped, and comfort during the drive can vary depending on the vehicle condition. Weather can be unpredictable, so dressing in layers and wearing comfortable shoes is advised, especially for the Muir Woods walk.

This combined tour excels with well-organized transportation, beautiful scenery, and friendly guides. The admission to Muir Woods and the Bay cruise are included, offering great value for the price. The scenic drive across the Golden Gate is a highlight, and the charming Sausalito stop provides a peaceful break from urban sightseeing.
However, some limitations include shorter-than-desired time in Sausalito, potential discomfort on the bus, especially for taller travelers, and the fixed schedule that may limit exploration. The recorded narration on the cruise might lack the engagement of a live guide.
This tour suits families, couples, and small groups interested in nature, iconic bridges, and seaside towns. It is ideal for those who want a guided experience with organized logistics and a mix of outdoor walking and scenic cruising. Travelers who prefer more free time or extended exploration might find the schedule a bit rushed.
“Our bus tour guide, Danny, was full of historical anecdotes and humor. Very personable, and detailed about the events of the day. Muir Woods is b…”
Does this tour include hotel pickup?
No, the tour starts at Pier 39 in downtown San Francisco.
How long is the visit to Muir Woods?
The stop at Muir Woods lasts approximately 1 hour 30 minutes.
Is the bay cruise guided by a live narrator?
The cruise features a recorded narration, which some reviews find less engaging than a live guide.
Can I extend my time in Sausalito?
Yes, you can stay longer in Sausalito and return by ferry on your own, if you arrange and pay for the ferry separately.
What should I bring for the tour?
Comfortable walking shoes, layers for weather changes, and a camera are recommended.
Are the stops accessible for all mobility levels?
Most of the tour is accessible, but bus comfort may be an issue for tall or larger individuals.
What is the cancellation policy?
You can cancel free of charge up to 24 hours in advance for a full refund.
Is food included in the tour?
No, food and drinks are not included; meals or snacks are at your own expense.
Can I book this tour for a specific date?
Yes, the tour can be booked in advance, with most bookings made about 35 days ahead.
Is this tour suitable in bad weather?
Tours are dependent on good weather; if canceled due to weather, a full refund or alternative date is offered.
This Muir Woods and Sausalito Tour Plus Bay Cruise delivers a well-rounded glimpse of California’s natural beauty and scenic landmarks. It offers a balance of guided exploration and free time, perfect for those seeking a manageable and scenic day in the Bay Area.