Where to Find the Best Sausalito Ice Cream

Looking for the best Sausalito ice cream money can buy? Discover three of the best dessert spots in this charming seaside town.

By Leila N’Amara

Just north of San Francisco and across the Golden Gate Bridge, you will find the beautiful seaside town of Sausalito. Just a few minutes outside the city limits of San Francisco, Sausalito is a quintessential part of the San Francisco experience and a perfect quick escape from the hustle of the city.

This charming village has become a favorite lunch stop for many San Francisco tours, including Dylan’s Famous Tour with Muir Woods and Bike the Bridge & Shuttle to Muir Woods Tour.

There are many things to do in Sausalito, including shopping at the local boutiques, grabbing a bite at one of the many Sausalito lunch spots, admiring the beauty of the Sausalito waterfront, and visiting some of the best dessert spots in the Bay Area, specifically the ice cream shops. Sausalito is known for some of the creamiest, most delicious ice cream around. Indulge in both classic and unique flavors.

Whether you’re on a Sausalito day trip or just stopping for some quick exploration, here is where you will find the best ice cream in Sausalito.

Lappert’s Ice Cream

Lappert’s Ice Cream is known for inventive flavors inspired by a tropical Hawaiian paradise. Located in the heart of downtown Sausalito, you don’t need to walk far to find this treat. They offer unique flavors from around the world, like Nuku Hiva, a blend of coconut-pineapple ice cream, brownie pieces, and raspberry sorbet.

Lappert’s ice cream is the smoothest, richest tasting ice cream around. Be sure to stop by their shop and indulge in this fantastic Sausalito ice cream.

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Sausalito Gelato and Chocolate

If you’re craving something sweet, Sausalito Gelato and Chocolate will not disappoint. No matter what you have a hankering for, the local chocolate creations or creamy Italian ice cream are sure to hit the spot. This Sausalito sweet shop is located right next to the Sausalito ferry. Which makes it the perfect last stop before taking the ferry back to the city.

Sausalito Bakery and Cafe

Is it too much to enjoy a warm, fresh pastry with your cool, creamy ice cream? We don’t think so. Enjoy a scoop of ice cream and whatever other sweets catch your eye at the Sausalito Bakery and Cafe. This charming cafe is in the heart of downtown. And it has a perfect waterfront view allowing its guests to see the Bay.

It has a classic outdoor cafe-style ambiance and adorable homey atmosphere. We wouldn’t be surprised if you spent a bit more time at the Sausalito Bakery and Cafe than you planned.

Things to Do in Sausalito

While enjoying some tasty Sausalito ice cream is well worth the day trip to the village, there is so much more to Sausalito you can enjoy. From local events to nature reserves, make the most of your time in the area with several fun Sausalito activities.

Explore The Food Scene

Over the years, desserts have built up quite a reputation in Sausalito. We recommend everyone who visits the Bay Area explore the food scene here. It’s the perfect place for foodies to enjoy a self-guided tour of amazing eateries because everything is within walking distance! Take a stroll along the boardwalk and stop in any restaurant that catches your eye along the way.

Take the Ferry

When tourists ask us what to do in Sausalito, one of our favorite things to recommend is taking a ferry from Sausalito to SF or vice-versa. This peaceful ride will allow you to see some of the best views of San Francisco, the Golden Gate Bridge, Alcatraz, and the Bay.

Shop Along the Waterfront

There is no shortage of sweet local boutiques, shops, and stores to peruse and support. With several local artists creating amazing clothes, decor, and other beautiful trinkets, you’re sure to find your loved ones (or yourself) the perfect souvenir. Sausalito is very inviting with its warm charm and landscape of picture-perfect, pastel-colored, old Victorian buildings. Stroll up and down the streets popping into some of the trendy boutiques and art galleries.

Before you leave town to go back to the city, continue on to Muir Woods, or wherever your travels take you, why not stop in for one last cone before you go? You can never really have too much ice cream, after all.

Discover San Francisco like never before! Join our Explore S.F. group on Facebook, your ultimate guide to the city’s best-kept secrets. From local tips to monthly adventures, this is where your journey begins. Click here to join and start exploring!

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Scott Sorensen
1 days ago

Trustindex verifies that the original source of the review is Google. +2
Delightful tour was beyond expectations

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Mr G
1 days ago

Trustindex verifies that the original source of the review is Google. +0
The tour was good,Patrick was a great guide.Please,Dont advertise the Twin Peaks stop, since you guys don't stop there and was included.Its false information.We pay for stuff ,that is not included !!Also,the 5 minutes stop at the Palace of fine arts doesn't give us any chance to see that beautiful place and enjoy.Its barely to go around the lake, which is nothing.

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John Heeren
1 days ago

Trustindex verifies that the original source of the review is Google. Had the pleasure of taking the wine guided tour of Sonoma and Napa with Jeffery. The trip was phenomenal. Jeffery was extremely knowledgably, witty and very entertaining. He took great care of us throughout the day. Highly recommend this tour!

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Laura Towers
2 days ago

Trustindex verifies that the original source of the review is Google. The half day Muir Woods tour was great. Our guide Kevin shared some great information about San Francisco. He's very knowledgeable, personable and enthusiastic. Thank you.

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Jessica Schief
2 days ago

Trustindex verifies that the original source of the review is Google. I booked the Lombard Leap tour spur of the moment after seeing a Facebook ad and I’m so glad I did. Laura was an amazing guide, personable, funny, knowledgeable, and had snacks and stickers for trivia questions which was a fun bonus. The tour was wonderful, got to see a lot of beautiful views and learn about the history of the area.

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Liz Corpion
2 days ago

Trustindex verifies that the original source of the review is Google. Bus was clean and roomy. Dylan had a lot of fun facts to share! I liked the flexibility of walking where you wanted to and taking the bus or the ferry back to SF. Highly recommend

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Chelle
2 days ago

Trustindex verifies that the original source of the review is Google. Laura did a FABULOUS job, with great trivia and fun personality. Highly recommend!!

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RAVIKUMAR V
2 days ago

Trustindex verifies that the original source of the review is Google. Interactive tour and Dylan is super cool

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Anthony Mosca
2 days ago

Trustindex verifies that the original source of the review is Google. We were staying in San Francisco recently and decided to take one of the advertised tours. We decided on Dylan Tours because of the many positive reviews on various websites. The tour visited most of the popular attractions and areas in the city. The best part of the tour was our guide Trevor. He is a third generation San Franciscan and native. He added a lot of background information to the tour narrative and has some very interesting anecdotes and in depth historical information. In addition, he is a genuinely professional and personal guy. If you're in SF and are interested in a guided tour of the I recommend Dylan's Tours and I would definitely ask for Trevor as your guide.

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Christian Spier
2 days ago

Trustindex verifies that the original source of the review is Google. +3
5 Sterne ist nicht genug für so eine wunderbare Tour 💪🏾 unser Guide war Trevor. Wir haben schon viele Touren gemacht auf der Welt, aber Trevor war unschlagbar. Super spannend mit ihm und man konnte gar nicht genug von seinem Wissen aufnehmen. Wenn ihr eine Tour machen wollte dann macht diese mit Trevor. Vielen Dank dir nochmal Trevor wir haben jede Sekunde mit dir genossen 🫶 Liebe Grüße Isi und Christian

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jonathan_g
9 days ago

Verified Great option to choose for intro Jake was excellent. Kept things moving and is very knowledgeable. Good overview tour. Muir not to be missed.

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Chivita_W
10 days ago

Verified Muir Woods with East Coat Friends Knowledgeable tour guide and comfortable bus ride. This is a much better way to see the Bay area. We loved the experience.

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Tammy_C
10 days ago

Verified Perfect way to see SF in a day We did the full day tour as a family. It was very well orchestrated, perfectly paced and we saw so many highlights of the area. Our guide - Aaron - was amazing and very knowledgeable. We’ve done tours across the world and this one was very very well done. Thank you Dylan’s tours!

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Ashutosh_T
12 days ago

Verified Great Day Tour Trevor was a great guide. He is very knowledgeable about everything San Francisco. The Muir woods was the best part. Very beautiful and tranquil location.

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Arijit
13 days ago

Verified Guide was informative with a good sense of humour. Trip is essentially a bus tour between 9-2 including few photo stops in the city, view point of golden gate bridge and pass by Sausalito and spend 90 mins in Muir woods. Alcaratz tour is late afternoon which is managed separately by the ferry provider. Overall tour was good but not worth almost $180

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Michael
19 days ago

Verified Our guide was Patrick. You will be VERY lucky if you land him. Knowledgeable.. funny.. entertaining 100% of the time. Interactive with all guests. I’ve taken dozens of tours and he is definitely the best I’ve ever had. I would recommend Dylan’s tours to anyone wanting to learn about San Francisco.

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Donna_A
19 days ago

Verified Best tour !! Trevor was amazing!! This tour was fantastic!!! Not a bad thing to say We enjoyed every second Trevor was the absolute best tour Guide !!!

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GetYourGuide Traveller
21 days ago

Verified Would have skipped the Muir woods part

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Charlie_S
23 days ago

Verified Great Tour, incorrect starting point information from Viator. The Tour and Tour conductor, Aaron, were great. The information that was given for a meeting point for this Tour starting point by Viator was incorrect on several event reminders. A call to Dillon Tours, the local operator, clarified the location for starting the tour.

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Adam P
25 days ago

Verified Great Value I took the all day trip through the neighborhoods of San Francisco Sausalito and Muir Woods, 7 hours. Definitely worth the money for the amount of time and the insights of the local guide.

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Agnedys
26 days ago

Verified Se hizo complicado ubicar el punto de encuentro, para la segunda actividad iniciamos tarde y no encontrábamos al guía, el tours culminó fuera del horario previsto. De resto el guía muy amable

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Terry_S
26 days ago

Verified This full day tour took... This full day tour took us all around SF to Muir Woods and Saulsalito. Trevor, a lifelong resident of SF, shared good knowledge about the history of the city with some fun personal experiences. He engaged all of the passengers in conversation and was truly interested in providing us the best experience possible. The time spent at each location was enough for me and he planned the route to save the best for last!

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Helen S
28 days ago

Verified Well organised, friendly, good value double up tour. We had a great day that was guided by Laura. She was very personable and pointed out so many places of interest. She added in lots of anecdotes. We were in a small open air van and we really enjoyed that aspect of the tour. Hop on hop off tours are too onerous for me as I have some mobility issues. We did stop and get out at the Golden Gate Bridge and the Palace of fine arts. Lovely short stops! The pick up arrangements were clear and we were let out at the ferry landing for the Alcatraz ferry. Not everyone did that part of the tour but we were glad we did. Once at Alcatraz you get an audio set and it’s great. An added bonus for me was that a little trolley was available for anyone with mobility issues to take me up to the top to start the cell tour. It’s a steep climb.

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Aristides
29 days ago

Verified great job A very unforgettable ! The tour guide was very professional and attentive.

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Alexandria H
30 days ago

Verified Great excursion Great experience! Definitely recommend.

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Nicole_M
30 days ago

Verified Really Enjoyed! The tour was absolutely amazing, and our tour guide was incredibly knowledgeable! He shared so much fascinating history about the city, and you could really tell how passionate he was about bringing the stories to life. We learned so much and had such a wonderful experience. I would highly recommend this tour to anyone visiting the city!

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Frank E
31 days ago

Verified Unmissable great value trip. An unmissable tour if you travel to San Francisco. Do this great tour early on your trip and it will tick off many must see places including Lombard Street.

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Matt M
31 days ago

Verified Great Tour! Fabulous tour. We'll worth the money. Jake was an EXCELLENT tour guide. He was helpful, knowledgeable and kept is on schedule. Would not hesitate to recommend this tour!

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Ethan B
31 days ago

Verified Book with Dylan’s Tours! The tour around the city was great and Muir Woods is amazing!

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Ken R
31 days ago

Verified Fantastic Tour & Guide We had a wonderful experience with Laura as our tour guide. Very informative & shared a wealth of information. Having a small group tour is an excellent way to go as it provides a personal touch.

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Alice H
32 days ago

Verified Exactly what we wanted! An amazing trip! Exactly what we wanted and Patrick our tour guide was amazing. It’s a short city tour about an hour long, photo stop at Golden Gate Bridge and then onto Muir woods. Beautiful place and 90 minutes was just enough time to do just over an hour of walking (we went to bridge three and back) and then spent some time in the gift shop and cafe. There’s an option to get off in Sausalito on the way back if you want to explore more but we stayed on the shuttle and were taken back to our starting point. Patrick provided lots of great facts, jokes and music along the way. Would highly recommend Dylan’s Tours!

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Bill F
34 days ago

Verified Sit back and relax… Easiest way to see some of the more interesting attractions on limited time without the stress of having to manage on your own. Show up on time and get taken care of the rest of the day! I appreciated being able to sit back and enjoy the experience rather than worrying about navigation, schedule,driving,parking, etc.,. Would recommend the Alcatraz add-on.

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Mark_K
34 days ago

Verified The tour was fantastic!... The tour was fantastic! Our guide, Patrick, did a wonderful job sharing stories and information about the area in an intertaining/amuzing way. We also appreciated him making accommodations so our group of 7 could all be together. I highly recommend this tour!

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Jennifer
40 days ago

Verified Perfect day!

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GetYourGuide Traveller
40 days ago

Verified It was great. Roger was an excellent guide and driver. Gave us a lot of information about San Francisco.

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Jessica
41 days ago

Verified Dylan was great loved the tour. Very friendly, communicative, a lot of great facts and info about San Francisco. A really nice tour.

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Evyenia_T
43 days ago

Verified Excellent way to see San Francisco I believe the tour guide I had for this tour was named Waymond - he was an excellent guide. I especially loved his knowledge of music and local musicians, and that he played songs in each neighbourhood from artists that either lived there or wrote music locally. I loved that it was a small group of only 5 of us too. 100% would recommend this tour to anybody visiting SF!

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GetYourGuide Traveller
56 days ago

Verified great staff and they assisted me to rebook my trip to correct and itinerary. Amazing experience.

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Nicola
73 days ago

Verified We had a very enjoyable and interesting day. Our guide, Per, was both knowledgeable and helpful, giving us lots of useful information about where to eat, shop etc. He also shared his extensive local knowledge with us and this was very interesting. Highly enjoyable day - would recommend without hesitation.

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Lorraine
80 days ago

Verified Jules was a great guide. He was informative and maintained a great attitude. I would recommend taking this tour. Thank you

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Manuela
92 days ago

Verified Ein toller Ausflug auf dem man sehr viel zu sehen bekam. Unser Guide Roger war super und machte einen hervorragenden Job

Posted on Airbnb

⁨David A.⁩
107 days ago

Verified Roger was a Terrific host! Thank you for a memorable vacation, don't miss out on a fun ride with Rodger and get to know the town!

Posted on Airbnb

Mythri
133 days ago

Verified Well planned tour that takes you around SF neighborhoods, Muir woods and Sausalito. Guide was knowledgeable. Recommended.

Posted on Airbnb

Charlene
147 days ago

Verified Dylan provides a good overview of the most famous San Francisco neighborhoods. Recommended restaurants and places to go even told us about carnival which is going on this weekend. A great guide and he kept us on time!

Posted on Airbnb

Ashley
245 days ago

Verified What an incredible experience! Dylan was our host for the day. The tour and conversation was great! Patrick and Dylan got my husband and I a reservation at the Barrel house on Valentine’s Day in Sausalito. Even after we ran 15 mins behind at Muir Woods ( no fault to our tour guide ) the restaurant was still holding our table because they “ they just knew we were coming” Thank you Dylan and Patrick for such a great day! You are our two favorite people in San Francisco!

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Darrell Campbell
250 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. Today we did the Muir Woods tour with Dylan. Dylan was very friendly and knowledgeable! Would definitely book another tour with Dylan’s tours! Awesome tour!

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Dagme
252 days ago

Verified The post is inaccurate the host informed me over the phone that the tour is actually 4 hours and that they spend about 15 minutes at each of the locations aside from Muir Woods where you will spend an hour. I was told over the phone that I could cancel because the listing is inaccurate but they stopped replying after. You’re better off going to these locations on your own which is what I did. save your money.

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Rebecca Bowes
260 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. We had a great tour to Muir Woods with Barry our tour guide. Really informative and enjoyable. A real highlight of our holiday xx

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Rajasree
308 days ago

Verified Loved the experience.

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Cheryl
308 days ago

Verified the trip to Muir woods was magical and our guide Jeffrey was fun and knowledgeable. I could have used another hour in the woods just to longer and savor the environment but didn't feel rushed - just left wanting more. I loved the photo stops along the way - easiet way to get a great bridge photo! lunch in Sausalito was fun too. great recommendations and good food.

Posted on Airbnb

Mary
308 days ago

Verified One of the most beautiful parks that I've ever visited. It was on my bucket list of things to see and it did not dissappoint! Absolutely stunnning! Our tour guide was exceptional!

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Rose
312 days ago

Verified Great deal and value, our guide was knowledgeable of the city and always willing to take photos. Also he was very accommodating to drop us off at the location close to where we were going after the tour, as long as he was passing it. The only thing that was annoying was waiting for people who were late. It tells you to arrive 20-15 mins before the tour but we still had to wait for 2 people and then wait for people again on each stop, not the driver’s fault, just need to be more strict with time cus it’s not fair for many of us.

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Lynn Stewart
540 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. It was a wonderful day touring San Francisco, muir woods, and Sausalito with our guide Kevin! He was full of interesting information delivered in a fun conversational way. It was a good mix of sightseeing and walking and we saw SO much. I highly recommend this tour company!!!

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Dawn Taylor-Hoad
723 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. We had a great morning being driven around by Stuart...highly recommend 👌

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Allison Beckort
752 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. Can’t say enough good things about this tour! It’s definitely worth your time and money!

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Kelly Holden Devine
864 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. We took the tour today that included Muir Woods. Our tour guide, Joe M.,was phenomenal! He had lots of knowledge and tips for our stay. He was very comical, too! Plenty of time to enjoy each stop. We're so glad we took this tour!

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Brooke Myrick
902 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. Has a great time touring San Francisco, the Muir Woods, and Alcatraz. Our tour guide, Sully, was very informative, funny, and helpful. He made the trip very enjoyable! I highly recommended Dylan’s Tours! Would definitely use them again and try one of the other tours available when we come back!!

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Jake Miceli
924 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. Did a tour this weekend that went to Muir Woods, Alcatraz, stopped in Sausalito, and a couple other spots. Was very smooth from pick up to drop off. We landed in the city very early am and debated cancelling the tour but were glad we didn’t. Patrick kept the ride lively as well. Would recommend to anyone traveling to San Francisco.

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Paul Wright
936 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. Amazing day out with Jake, had a lot of fun, great way to get a local perspective of an amazing city. Would highly recommend and would do again

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Karin LaVallee
956 days ago

recommendsTrustindex verifies that the original source of the review is Facebook. I went on a tour with Sully and cannot recommend it enough. Sully was extremely knowledgeable and funny. He had so much to tell us about San Francisco. We went to so many places and I feel like the tour covered just enough. The bus was clean and we were offered water and a snack upon the start of the tour. Muir Woods was my favorite part of the trip. I think anyone visiting should book one of the bus tours! You won’t regret it!