With its famous hills, sparkling bay, and the legendary Golden Gate Bridge, it’s easy to see why travelers ask: “What’s the best way to see San Francisco?” The short answer: a little of everything!
Whether you prefer exploring iconic neighborhoods, joining a guided city tour, or cruising the bay at sunset, there are countless ways to experience San Francisco’s charm. Ultimately, the best way to tour the city depends on your travel style, but we’re here to help you find the right fit.
At Incredible Adventures, we’re proud locals who’ve curated the best San Francisco tours for every type of traveler. Let’s explore your options below, and if you have any questions, don’t hesitate to contact our team for insider recommendations.
Top 5 Ways to See San Francisco?
- Join a Guided San Francisco Sightseeing Tour
- Walk San Francisco’s Neighborhoods
- Rent a Bike for a Self-Guided Tour
- Explore San Francisco Bay by Boat
- Take to the Skies for a Bird’s-Eye View
Join a Guided San Francisco Sightseeing Tour
If you want to maximize your time and hit the city’s top attractions, a guided San Francisco sightseeing tour is your best bet. Led by knowledgeable locals, these tours make it easy to see the highlights, learn about the city’s history, and travel comfortably between neighborhoods.
A few reasons travelers love guided tours:
- Expert narration and storytelling from local guides
- Seamless transportation and ticket coordination
- Access to top attractions like Chinatown, Alcatraz, and Sausalito
For an immersive experience, try the Two-Day San Francisco City Tour and Alcatraz Tour, which includes:
- Hop-on, hop-off bus access from 9 a.m. to 5 p.m.
- A Chinatown Walking Tour and Sausalito loop over the Golden Gate Bridge
- A panoramic night tour of the city lights
These San Francisco city tours let you cover a lot in a short time, perfect for first-time visitors or anyone who wants a stress-free way to explore.
Walk Around San Francisco’s Neighborhoods
Prefer to take things slow? Exploring San Francisco on foot is a great way to connect with its vibrant, walkable neighborhoods. Each district has its own character, history, and local flair.
Some favorite areas to explore include:
- Haight-Ashbury – Colorful homes and vintage record shops
- North Beach – Old-world cafes and Italian charm
- Chinatown – Bustling markets and ornate architecture
- Mission District – Stunning murals and authentic eats
Keep your camera handy, San Francisco’s Victorian architecture and street art make for endless photo ops. And if you need a few more recommendations, check out our blogs:
Rent a Bike for a Self-Guided Tour
If you’re up for something active, a bike tour of San Francisco is one of the most scenic ways to see the city. The city is full of bike paths, flat waterfront trails, and thrilling hills for a good workout.
Top spots for a cycling adventure:
- Golden Gate Bridge – Ride across for unforgettable views
- Embarcadero – Cruise along the waterfront to Fisherman’s Wharf
- Golden Gate Park – Explore gardens, lakes, and museums at your own pace
Bike rentals are available throughout the city, and many shops provide maps and gear. It’s a flexible, affordable way to see a lot in a day, plus, you’ll get some great exercise along the way.
Want a little extra adventure?
Join our Golden Gate Bridge Bike Tour with Muir Woods & Sausalito Tour for a full-day experience that combines city cycling, forest exploration, and coastal charm.
- Pedal across the Golden Gate Bridge to Sausalito’s scenic waterfront.
- Stroll among the towering redwoods of Muir Woods National Monument.
- Enjoy free time to shop, dine, or relax before your return ferry ride.
This combo tour perfectly blends iconic landmarks, outdoor activity, and natural beauty, making it one of the best ways to see San Francisco and beyond in a single day.
Explore San Francisco Bay by Boat
To see the city from an entirely new angle, head out onto the San Francisco Bay. Whether you sail, cruise, or kayak, you’ll get unbeatable views of the skyline and landmarks like Alcatraz Island and the Golden Gate Bridge.
Here are some of our favorite ways to experience the bay:
- San Francisco Sailing Tour – Sail under the Golden Gate Bridge and past Fort Point.
- Alcatraz Day Tour and San Francisco Bay Sunset Cruise – Two of the city’s most iconic experiences in one package.
- Alcatraz Night Tour and San Francisco Bay Cruise – Watch the skyline sparkle as the sun sets.
- Private Sausalito Kayak Tour – A quiet, guided paddle for up to 8 guests
No matter your choice, being on the water offers a peaceful yet exhilarating view of San Francisco’s beauty.
Take to the Skies for Breathtaking Views of San Francisco!
For the ultimate bird’s-eye view over the city, the bay, and the surrounding areas, you have to take a breathtaking San Francisco seaplane tour! Soar high above the city and marvel at panoramic vistas of the Golden Gate Bridge, Alcatraz Island, downtown San Francisco, and much more.
Highlights include:
- Aerial views of Alcatraz Island, Golden Gate Bridge, and Downtown San Francisco
- Commentary from professional pilots and guides
- Unique photo opportunities you can’t get from the ground
A seaplane flight is the best way to see San Francisco from above, offering a stunning finale to any Bay Area trip.
Find Your Adventure with Our San Francisco Tours!
So, what is the best way to tour San Francisco? Well, that’s for you to decide now! Remember, our full range of San Francisco tours has something for travelers of every kind, so start your planning by browsing our carefully curated itineraries.
And if you want to take your adventures further afield, our tours from San Francisco visit even more incredible destinations in Northern California, including Napa and Sonoma Wine Country, Yosemite National Park, Silicon Valley, and Muir Woods.
Do you have any questions for the Incredible Adventures team? Please contact us for more information. We’re here to help!
Frequently Asked Questions About Touring San Francisco
What’s the best way to see San Francisco without a car?
The best way to see San Francisco without a car is by joining a guided tour, using public transit, or exploring on foot and by bike. The city’s compact layout and transit network make it easy to navigate car-free.
How long should I spend exploring San Francisco?
You can see the highlights in two to three days, but a four-day itinerary allows time for day trips to Alcatraz, Muir Woods, or Napa Valley.
What are the most popular San Francisco tours?
Top-rated experiences include:
When is the best time of year to visit San Francisco?
The best time to visit is September–October when the weather is warmest and skies are clear. Spring (April–June) is another great season for mild temperatures and fewer crowds.
Can I combine a San Francisco city tour with Alcatraz?
Yes! Our Two-Day San Francisco City Tour and Alcatraz Tour lets you experience both city highlights and the historic prison island, complete with round-trip ferry tickets and guided commentary.
