Yosemite Camping Tour - "Yosemite Escape" 3 Day Camping Adventure

Why We Love This Tour

“The three day camping tour is the best way to explore all of Yosemite. The high sierras are as beautiful as the waterfalls of the valley. Don’t miss a great opportunity to visit the expansive landscape of the high sierras. Camping is the best way to visit the park.”

– Vince Harrington
Fleet Manager

Tour Highlights

  • Yosemite Valley
  • Yosemite Falls
  • El Capitan
  • Giant Sequoia Trees
  • Tunnel View
  • Bridalveil Fall
  • Half Dome
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Retail Price: $500 adult/$480 child*

Special Price: $489 adult/$469 child*

Special EARLY BIRD deals on summer 2019


Book 90+ days out from your tour date
20% off with code EARLY90

Book 60+ days out from your tour date
15% off with code EARLY60

Book 30+ days out from your tour date
10% off with code EARLY30

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

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!
Don’t forget to take some awesome pictures!
Group on Trail in Sequoias 2
See the magnificent Giant Sequoias of Yosemite

Share your trip photos #IncAdventures


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 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**



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.

2:00 – 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!

4:00 – 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.


7:00 – 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.



7:00 – 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. 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: 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. *

About Our 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.

This 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)

Tour Details

About Your Yosemite Camping Trip

Departure: May-Oct (Mondays, Wednesdays, Fridays)
June-Sept (Additional Sundays and Tuesdays)
8:15 am pickup from a central SF hotel

Duration: 3 days/2 nights

Transportation: Eco-friendly, comfortable transport in a biofuel mini-coach (14 passengers max)


  • 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

Other Yosemite Adventures

Want to explore more of California? Or upgrade your stay to some hotel accommodations? There are so many ways to explore Yosemite and beyond!


Review your tour

Exceeded my expectations!

This trip exceeded my expectations! Our guide, Sarah, was friendly, very generous with her time, and told us a whole load of interesting info about the history of Yosemite which I would never have found out if I’d been doing the trip on my own. We went to a few different places around Yosemite so got a flavour of how big and diverse it was. We had a really fun group, ranging from a ten-year-old to a very fit elderly couple, and yet it worked for everyone, which is really impressive. Saw amazing views, tried s’mores for the first time, enjoyed learning something new from everyone in the group, enjoyed the camping. These 3 days were some of the best of my whole trip! Thank you to everyone who I met there.

– Anna M Traveled September 2017 Yosemite Escape 3-Day Tour

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Chris was the Man!

I can honestly say that out of 3 week California trip, our three day adventure with you guys made it all worth while. Our guide Chris was the man!!!!! Very knowledgeable with the history of Yosemite, gave us options on what to do, and advised us on trail difficulty. Oh yea….and a very nice guy. 10 out of 10 all the way from Pittsburgh, PA. We will be back for more fun with Incredible Adventures!

– Dan & Laura Traveled May 2011 Yosemite Escape 3-Day Tour

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Best Guide I’ve Ever Had

5 Stars. Leo was an amazing guide, best I’ve ever had. The views were amazing and everything was perfect! Thank you!

– Ryan Traveled May 2016 Yosemite Escape 3-Day Tour

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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

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