Home » Yosemite Camping Tour

  • Get off the beaten path into Yosemite National Park's High Country

    Get off the beaten path and into High Country!
  • Hiking in Yosemite's High Country will get you some great views

    See the amazing 360 degree views from High Country
  • Yosemite Pool and Waterfall

    See some of Yosemite’s hidden treasures
  • Guide Botany Lesson

    Get out on the trails with a knowledgeable guide
  • Camping in Yosemite is Awesome!

    Camping in Yosemite is the best!
  • yosemite-camping-tour-group-jump-hr

    Don’t forget to take some awesome pictures!
  • Group on Trail in Sequoias 2

    See the magnificent Giant Sequoias of Yosemite

Yosemite Camping Tour

On your three days in the park, you’ll see:

  • High Country
  • Yosemite Valley
  • Yosemite Falls
  • El Capitan
  • Giant Sequoia Trees
  • Tunnel View
  • Bridalveil Fall
  • Half Dome

…AND camp overnight with your group!


Retail price: $479 adult/$459 child*

Web price: $469 adult/$449 child*

Internet savings: $10


*child rates are for ages 0-12.  Rates for tours beyond this year may have adjusted pricing; see booking page for exact rates.

Explore Yosemite on a three-day Yosemite camping tour that takes you to trails and sights unseen by most who venture into America’s favorite national park!
Our experienced guides will provide history and insight into Yosemite as you explore some of America’s tallest waterfalls, biggest trees, and cliffs rising 4,000 feet from the valley floor (keep an eye out for rock climbers)! You’ll enjoy three days and two nights of camping, hiking and swimming in a fun-filled, friendly atmosphere. Visit not only Yosemite Valley, but also the magnificent Giant Sequoia trees and the breathtaking Yosemite High Country.Never camped before? No problem! The necessary camping gear is provided for you, and the tour is fully-guided.Weather permitting. Some activities are not accessible in extreme weather or due to road closures. Every attempt will be made to find comparable activities if these options are not available during your trip.This tour runs daily, May-October (see Yosemite Stay & Play Winter Hotel Tour for off-season overnights in Yosemite)

Yosemite Escape Camping Tour

Tours: May-Oct (Mondays, Wednesdays, Fridays)
June-Sept (Additional Sundays and Tuesdays)
Departs: 8:15 am pickup from a central SF hotel
Duration: 3 days/2 nights
Transport: Eco-friendly, comfortable transport in a biofuel mini-coach (14 passengers max)
Activities: Hiking, Camping, Swimming, Photography, Camp cookout, Wildlife & Nature, Eco/Sustainable
Includes: Complimentary pick up/drop off from the San Francisco Hilton hotel (Mason St. entrance)
Narrated guided tour by a full-time professional, knowledgeable guide
Yosemite Park entrance fee
5 Meals provided (BLD Day 2, BL Day 3)
See El Capitan, Half Dome, Yosemite Falls, Bridalveil Falls, Tunnel View, Giant Sequoias, High Country, and Yosemite Valley
All camping equipment is provided
Transportation to/from Yosemite in biofuel mini-coach
Not Included: Meals Day 1, dinner Day 3 (stops will be made to purchase food).
Sleeping bags (available for rent)
Guide gratuity (optional)

PLEASE READ: Our terms/conditions and cancellation policy

** Yosemite Scheduling Tip: This is one of our top-selling tours, and space on this trip fills up fast! We recommend that you make your reservation far in advance of your intended travel date in order to secure your space. If your intended date is NOT available, we will try our best to help find something for you. If you’re looking for more options in Yosemite, take a look at our Yosemite 2-Day Hotel Tour or our 4-Day Yosemite, Mammoth Lakes, and Tahoe Sierras Tour**

Sample Itinerary – Day 1

8:15am: Pick up from San Francisco Hilton Hotel (Mason Street entrance)
8:30am –  1:00pm: Cross the Bay Bridge and see Alcatraz and Angel Island. Travel through Oakland and the East Bay, then on to the Central Valley. There will be a stop at a local fruit stand to pick up some fresh produce and an opportunity to buy lunch in advance (not included). Travel through the Gold Country and Sierra Foothills.
 2:00pm –  4:00pm: Arrive at a grove of Giant Sequoia trees. Find a quiet place to enjoy your picnic lunch while wandering amongst these massive wooden monuments, some of which are over one thousand years old and measure up to 30 ft. wide & 300 ft. tall!
4:00pm – 5:00pm: Make your way through Yosemite to a beautiful photo stop at Tunnel View, a spectacular view at the mouth of the valley looking east towards El Capitan, Half Dome, and BridalVeil Falls.
5:30pm: Arrive at camp. Your guide will give a campground orientation while we set up camp. You can then relax by the river, swim in the pool/hot tub, get dinner in the restaurant (not included), or hang out in the pub.
8:00pm: Drinks around the campfire at night is a great way to end the day. You’ll want to get a good night’s rest for a full day of hiking on Day 2.

Sample Itinerary – Day 2

7:00am-8:30am: Rising early, we prepare breakfast and lunch, clean up camp, and head off in the van for a fun day full of hiking, sightseeing, and exploring.
8:30am – 4:30pm: Usually the second day is reserved for exploring Yosemite’s High Country. Picturesque lakes, vistas from mountain summits, and winding paths through serene meadows are some of the highlights of the high country landscape. Your guide will choose a hike in high country that is suitable for the activity level of the group. Then head back to camp for a cookout.
6:00pm: Dinner tonight is a camp cookout where you help cook. Then you’ll have time to unwind by the campfire, swim or soak in the hot tub, or play a game of pool at the nearby pub.
9:00pm: Swap stories around the campfire with your new friends. “Hit the sack” when you’re ready, but in the morning, we “break” camp and head to the famous Yosemite Valley.

Sample Itinerary – Day 3

7:00am-9:00am: Rising early, we prepare breakfast and lunch,  and “break” camp. As soon as we are all packed up, we head to Yosemite Valley.
9:30am – 3:00pm: Day three is a free day, where you choose what you’d like to see and do in Yosemite Valley. You can hike to a waterfall, rent a bicycle to cruise around the valley floor, check out the visitor’s center, museum, and Ansel Adams Gallery, or relax in the shade by the emerald green Merced River.
2:30pm – 3:00pm: Regroup for one final group activity, a visit to the El Capitan Meadow to view rock climbers conquering the largest granite monolith in North America.
3:00pm – 8:30pm:

After a full day in the park, we head back to the San Francisco Hilton, arriving around 8:30pm – 9pm.

**Sample Itineraries: Please note that due to rapidly-changing conditions beyond our control (weather, crowds, traffic) and the small size of our vehicles/groups, we allow our guides the flexibility to tailor your itinerary to best suit the needs of the group. While we guarantee that we’ll do our best to provide you with all of the highlights within this itinerary (conditions permitting), we do not guarantee them in this specific order. **

Your Campsite

Yosemite Camping Tour from San Francisco

Our three day camping tour is designed to be comfortable for all levels of camping experience, from first time campers to veteran outdoorspeople. We stay at a campsite with modern facilities and we provide all the equipment necessary to ensure you are well taken care of and have a great time.

Yosemite Camping Tour Bagels for BreakfastThis tour offers the full camping experience where group participation is part of the fun! Camp set up is a snap with our easy set-up tents, sleeping pads, and camp stove. The cookout dinner is a group event where everyone helps out, campers take turns cleaning up after meals, and we swap stories by the camp fire.

Campsite amenities include:

  • On-site showers with hot water (don’t forget your towel and toiletries)
  • Flush toilets
  • Tents and sleeping pads
  • Propane stove and cookware
  • Fire pit for warmth/marshmallow roasting
  • Use of indoor/outdoor pools and hot tub at lodge nearby
  • Nearby store for incidentals
  • Merced River across the road from camp (may swim in river)
  • Sleeping bags available to rent (additional fee)

All Season:

  • Camera & charger
  • Sneakers or hiking boots (mountain hiking can be hard on unsupported ankles)
  • Comfortable hiking clothes (shorts & T-shirt)
  • Change of clothes for 2 days
  • Swimwear, sandals
  • Toiletries, towel
  • Bug repellent spray
  • Sun protection, hat
  • Water bottle
  • Flashlight or headlamp (optional)
  • Warm layers (evenings can be cooler)
  • Raincoat/jacket

Early Spring/Late Fall: (additionally)

  • Hiking boots or durable sneakers (preferably Gortex or waterproof)
  • Warm layers (long underwear & wool fleece suggested)
  • Waterproof jacket/pants for winter conditions
  • Gloves, wool socks and a hat (75% of your body heat is lost through your hands, head, and feet)

The Perfect Size Group (Yosemite Escape Camping)

The perfect size group

My trip was with Mike in September. It was a great experience, and I must say, Mike was truly a great tour guide, he really did a good job, and we all enjoyed him. the food provided was great, the sites we visited were also great, and the site at which we camped was good. the size of the group: 10 people was perfect.

- Dena Khalili
Traveled September 2013
Yosemite Escape Camping Tour

The perfect size group My trip was with Mike in September. It was a great experience, and I must say, Mike was truly a great tour guide, he really did

Knowledgeable & Enthusiastic Guide (Yosemite Escape Camping)

Knowledgeable & Enthusiastic Guide

I've just returned from a three day Yosemite tour with Mike as our tour guide. I just want to say what an excellent tour guide he was, I think he made the trip for all of our group. He was very knowledgeable, enthusiastic and still managed to made the trip excellent even with Yosemite closing! The trip was a great experience- thanks to you guys at Incredible Adventures

- Alana D.
Traveled September 2013
Yosemite Escape Camping Tour

Knowledgeable & Enthusiastic Guide I’ve just returned from a three day Yosemite tour with Mike as our tour guide. I just want to say what an excellent tour guide he

Fantastic Guide (Yosemite Escape Camping)

Fantastic Guide

Just got back to UK and wanted to say a huge Thank you for the 3 day tour to Yosemite that I did on 9th August. I had an amazing time. Seamus was a fantastic guide and obviously really passionate about what he does. The whole group got on really well and we all passed on our contact info so that we could exchange photos!

- Hannah Anderson
Traveled August 2013
Yosemite Escape Camping Tour

Fantastic Guide Just got back to UK and wanted to say a huge Thank you for the 3 day tour to Yosemite that I did on 9th August. I had

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