Top 10 Walking Tours in Marin County, Marin County

June 22, 2021 Milan Banda

Some say it’s different, but residents of Marin County like their home that way. We’re betting you will too! Nestled between San Francisco and the Napa Valley, Marin County includes the cities of Tiburon, San Anselmo, San Rafael and Corte Madera.

Activities in Marin County include the highly anticipated Concours d’Elegance, a festival of pre-1978 vehicles and British Sports Cars. Held at the Marin County Fairgrounds in May, the event features a wine-tasting, fine food and “The Drive,” a parade of classic cars winding their way through the scenic back roads of Marin and neighboring Sonoma Counties ending with a lunch reception in San Rafael. In July, be sure to head to the Marin County Fair and in August hit the San Rafael Food and Wine Festival. Treat yourself to some of the world-renowned local wine and watch the sun go down over the hills.

Of course, there’s no shortage of natural beauty in Marin County. Beach lovers will enjoy Stinson Beach or Point Reyes National Seashore where wildlife abounds. Here you just might spot some Elephant Seals or Tule Elk among the rugged terrain or, from Point Reyes Lighthouse, catch a glimpse of a pod of whales. Go butterfly or bird watching and enjoy the many natural wonders of California’s Northern Coast.

For some, no vacation would be complete without a round of golf. If you’re a golf aficionado, Marin County will not disappoint you. The area boasts several public and private courses in a variety of settings, including San Geronimo Golf Course. Situated on 150 acres of stunning landscape, this is a challenging course designed to test your game! Or, try the StoneTree Golf Club, a daily fee, 18-hole championship course. If hiking is more your style, check out Angel Island State Park. Accessible only by ferry, Angel Island offers spectacular views of most of the Bay Area, including San Francisco. Fishing more your style? Try McNear’s Beach Pier in San Rafael.

1. Giant Redwoods Tour Including a 4-Course Winery Lunch

Best Bay Area Tours
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5.0 based on 2 reviews

The day begins at the magnificent Muir Woods with a walk among trees that soar 300 feet in the sky. This is an unparalleled chance to experience trees that have been around for 1500 years. We then move on to Kendall-Jackson winery and culinary garden where the farm-to-table culinary movement is in full bloom. We will tour through the gardens that are the source of vegetables and herbs for California’s most prestigious restaurants. Once we’ve seen the incredible offering of the culinary garden, Kendall Jackson’s award-winning chefs will prepare a four-course lunch paired with some of Kendall Jackson’s finest wines. The seasonal menu is designed with the freshest ingredients from the garden along with locally sourced meats and fruits. ENTRANCE TO MUIR WOODS IS INCLUDED IN THE PRICE. Gratuity for the wait staff at the winery is not included.

Inclusions: Lunch, Tour through Kendall Jackson Culinary Garden, Admission to Muir Woods National Monument

Exclusions: Gratuities

Reviewed By cwd143

Took the small group tour to Yosemite National Park. It was one of the best tours we have had. Brian our tour guide made this 1 day trip to Yosemite amazing. He packed in a visit and photo opps to all the major sites in Yosemite . We highly recommend tours with Best Bay. They do not disappoint at all.

2. Muir Woods and Sausalito Tour

545 Post St, San Francisco, CA 94102, USA Must See
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4.9 based on 62 reviews

This Tour will take you across the Golden Gate Bridge, walk among old growth coast redwoods of the famous Muir Woods National Monument Park. You will discover some of the most beautiful house boats in the world, where a hippie community took residence in the 70's and admire the beautiful seaside Mediterranean style City of Sausalito. Optional ferry back from Sausalito for a beautiful 30min ride. Tickets available in the Van for the same price $13. The transportation will be in a luxury brand new Mercedes Sprinter Van with only 11 passenger total. You will have a particular attention from your tour guide during all your trip.

Inclusions: Air-conditioned vehicle, Tour across the Golden Gate Bridge to Muir Woods and Sausalito, Entry fee to Muir Woods National Monument $15, Free time in Muir Woods and Sausalito 1 hour and 15 min

Exclusions: Gratuity 20% is the standard recommended for guides/chauffeurs, Food and Beverage, Ferry Ticket available for $13 ask your guide

Reviewed By 426ilenem

It was so nice to not have to drive or look for parking or directions. The tour guide was very entertaining.

3. San Francisco City Tour: 35 Attraction Downhill Walk Tour with Sausalito Ferry

Pier 1 The Embarcadero, San Francisco, CA 94105, USA Premium SF Tours
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4.8 based on 18 reviews

The Most Comprehensive Covid-Safe Walking Tour. 35+ Attractions tour of San Francisco is smartly confined into five interesting hours. This tour is unique in that our groups are incredibly small. Start at: Ferry Building Cable Car Ride Grace Cathedral (Go inside) Chinatown Fortune Cookie Factory Cable Car Barn Museum (Museum Tour) Earthquake Exposition & Museum Ferry Building Ferry Cruise to Sausalito Golden Gate Bridge Sausalito (Time for lunch, shopping and exploring) Golden Gate Bridge (Fort Point) Ferry Cruise back to San Francisco Customers of our tour, generally, likes/wants: *Red carpet-like services when traveling. *Definitely no walking up any hills. Our tour only has downhill walks. *Doesn’t want to get in a confined bus during Covid. *Loves a walking tour that can get close to Golden Gate Bridge

Inclusions: Ferry Cruise Ticket from Sausalito to San Francisco to end tour, Air-conditioned vehicle, 8 Passenger, Luxury Bus with Captains Chairs, 3-point Seat Belts, USB Ports / Phone Charging, CPUC License Fees, All Fees and Taxes

Exclusions: Japanese Tea Garden Entry Fee

Reviewed By dmaas10

This tour was well worth the time and cost. Though honestly, thought it was a pretty good deal! Kathy was our tour guide and John was our driver. We saw the city in a luxury van (think leather seats, high ceilings, black luxury vehicle) with stops for short walks, photo opportunities and historical and anecdotal stories about every part of the tour! We had just 2 days to explore the city, and this 5 hour event was the most efficient way to see all the popular sites. Including an impromptu visit to City Hall, which is gorgeous by the way. Stops included (not in order): Lombard Street, Cable Car Museum, City Hall, Golden Gate Bridge for a photo, Painted Ladies, Sausalito for lunch, ferry ride past Alcatraz, Japanese Tea Garden in Golden Gate Park, Grace Cathedral, and more. For my mom and me, this was the perfect way to see the city. Highly recommend!

4. Alcatraz with Muir Woods and Sausalito Tour

545 Post St, San Francisco, CA 94102, USA Must See
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4.7 based on 35 reviews

Inside Alcatraz with Muir Woods and Sausalito Tour This Tour will take you across the Golden Gate Bridge, walk among old growth coast redwoods of the famous Muir Woods National Monument Park. You will discover some of the most beautiful house boats in the world, where a hippie community took residence in the 70's and admire the beautiful seaside Mediterranean style City of Sausalito. After that you will have an extraordinary experience with an audio tour INSIDE the most famous prison, Alcatraz. The transportation will be in a luxury brand new Mercedes Sprinter Van with only 11 passenger total. You will have a particular attention from your tour guide during all your trip.

Inclusions: Air-conditioned vehicle, Alcatraz admission ticket with Cellhouse Audio Tour and ferry ride, Free time on Alcatraz Island, Alcatraz Tickets ($41.00 USD value)

Exclusions: Gratuity 20% is the standard recommended for guides/chauffeurs, Food and Beverage, Entry fee to Muir Woods National Monument $15

Reviewed By nikolasallee

Must see and experience. The audio tour and walk about on the island was awesome. So much history on this island! Would highly recommend!

5. Amazing Muir Woods and Sausalito Tour

545 Post St, San Francisco, CA 94102, USA Must See
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4.5 based on 8 reviews

This Tour will take you across the Golden Gate Bridge and stop at the north Vista Point for pictures, walk during 1h30min among old growth coast redwoods of the famous Muir Woods National Monument Park (entree fee $15 not included for and free for 15 and under. As well free up to 4 people if you have the National Park pass). Then we will stop for an hour and admire the beautiful seaside Mediterranean style City of Sausalito you you. The transportation will be in a luxury brand New Mercedes Sprinter Van with only 11 passenger total. The toll and parking fees is included. You will have a particular attention from your tour guide during all your trip.

Inclusions: Air-conditioned vehicle, Tour across the Golden Gate Bridge to Muir Woods and Sausalito, Free time in Muir Woods and Sausalito

Exclusions: Gratuity 20% is the standard recommended for guides/chauffeurs, Entry fee to Muir Woods National Monument ($15 and free under 15 years old), Ferry Ticket if not selected, Food and Beverage

Reviewed By 426ilenem

It was so nice to not have to drive or look for parking or directions. The tour guide was very entertaining.

6. Historic Sausalito Houseboat Walking Tour

Sausalito Wooden Boat Tour

Visit Sausalito’s famed houseboats and learn the storied history of one of the bay’s most iconic landmarks on this 2 hour walking tour.  Hear stories of the bohemian writers and influential artist who defined an era, Like Southern transplant Otis Redding, who spent his short time here recording the song “Sitting on the Dock of the Bay” just days before his fatal plane crash.  Learn how the dozens of seemingly unconnected threads of history combine to create a rich tapestry of people, personalities, and art forms known as Sausalito from a local artist and author. Free parking Minimum of 6 people required. Note: If you have fewer than 6 people in your party, please call the day before to check on availability.

Inclusions: Snacks and limited refreshments, Local guide, Free Parking, Transportation back to your car after the tour

Exclusions: Lunch, Gratuities

Reviewed By Brian R

I'd been meaning to take the Sausalito Wooden Boat Tour for several years and finally got around to it. So glad I did! I took my wife and her son and we all enjoyed it immensely. Victoria is a lively and informative guide to the fascinating history of a town I thought I knew pretty well, but found out there was so much more to know. A lovely way to spend a Sunday afternoon. Highly recommended!

7. Private Sausalito Waterfront Treasure Hunt

Sausalito Wooden Boat Tour

Stroll, read, write poetry, sing songs, create art and win the prize!! From the Captain, First Mate, Navigator, Signal Man, Photographer, Journalist and Artist, all will play their part to ensure their team takes home the best prizes. Using the Sausalito Wooden Boat Tour guide book, a list of clues, compass and timer, participants will be required to pool their knowledge in order to locate Sausalito's hidden treasures - The wooden boats and historic vessels that grace our shore. When the teams return to home base, the scores will be tallied and prizes distributed. This activity takes about two to two and a half hours to complete.

Inclusions: Professional art historian guide, Private tour escort/host

Exclusions: Food and drinks, other than the "value added offers" specified in your guidebook

Reviewed By Brian R

I'd been meaning to take the Sausalito Wooden Boat Tour for several years and finally got around to it. So glad I did! I took my wife and her son and we all enjoyed it immensely. Victoria is a lively and informative guide to the fascinating history of a town I thought I knew pretty well, but found out there was so much more to know. A lovely way to spend a Sunday afternoon. Highly recommended!

8. Nature Wildlife Package to California's Redwoods with Aquarium and Zoo Visit

288 Beach St, San Francisco, CA 94133, USA Tower Tours - San Francisco Sightseeing Specialist

This is the ultimate tour package for a visit to three of our favorite attractions to explore the Bay Area's wildlife!  Enjoy a bus tour over Muir Woods National Monument to experience California's coastal redwood trees. Then at your own pace, head over to Aquarium of the Bay at Pier 39, and the world-famous San Francisco Zoo - the largest in Northern California! Great for families, and visitors of all ages, this tour package allows everyone to enjoy some of San Francisco's most beloved attractions all in one!  The coach holds up to 40 people.

Inclusions: All taxes, fees and handling charges, Fuel surcharge, Local taxes, Air-conditioned vehicle, Driver/guide

Exclusions: Gratuities, Food and drinks

Reviewed By 912britni

Marco was an awesome tour guide! I love the Madonna Estates Winery. We stopped at a few places. Our group really enjoyed ourselves!

9. Hike the Ancient Redwoods

Good Earth Natural Foods, 201 Flamingo Rd, Mill Valley, CA 94941, USA Marin Outdoor Adventure

Our guides are each unique and can share with locals and travelers interesting facts, history, and plant flora of the area. You will see the giant redwoods as we head around Mt. Tam near Muir Woods. The pace gives you plenty of time to explore, enjoy, and snap photos.

Inclusions: Guide

Exclusions: Private transportation

Reviewed By scarder

My 10 year old son and I did our first surf lesson with Nicki and we had such a positive experience, we may be surfers for life. Nicki's approach to teaching how to surf focuses more on doing it well and have fun while doing it than being perfect the first time. My son and I were able to get up a few times but still had a great time in the water when we didn't. We'll back at the beach on boards very soon.

10. Historical San Anselmo: An audio tour through the city's quaint suburbs

San Anselmo Library, 110 Tunstead Ave, San Anselmo, CA 94960, USA VoiceMap San Anselmo, California

This is a self guided audio tour of San Anselmo, a unique town nestled in the heart of Marin County. Originally called Junction due to the meeting of several railroad lines, the town slowly grew from a few ranch houses and farms to the vibrant community we see today. You'll learn about some of our early residents, and about the influences the railroad and the San Francisco earthquake had on the growth and development of our town. By the end, we hope you will have a better appreciation of why our residents truly treasure living in this community.

Inclusions: Lifetime access to this tour in English, VoiceMap App for Android and iOS, Offline access to audio, maps, and geodata

Exclusions: Tickets or entrance fees to any museums or other attractions en route, Smartphone and headphones, Transportation, Food/Drink

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