Top 7 cultural & heritage things to do in Sausalito

1. Sausalito treasure hunt

Two to two and a half hours — a guided treasure hunt locating wooden boats and historic vessels, includes team activities and prizes for the best performance.

2. Redwoods and Mount Tamalpais walking tour from Sausalito

Three to four hours on foot through Marin's redwood groves with a local guide, exploring scenic trails and ancient trees.

“The Sausalito Mill Valley hiking tour offers an amazing experience through the Redwood forest. After taking the ferry from San Francisco to Sausalito, we were greeted by Ben, who drove us to Mill Valley. We walked through a stunning neighborhood filled with beautiful homes and towering redwoods. As we hiked up the mountain, we encountered a peaceful waterfall and breathtaking views. The forest is remarkable, and Ben's extensive knowledge about the trees, plants, and the town's history adds depth to the journey. With a small group of about five people, the hike feels personal and engaging, a refreshing change from larger bus tours to Muir Woods. This adventure is incredibly fulfilling, letting you connect with nature. On the ferry ride back, we were treated to a spectacular sunset view of the Golden Gate Bridge. I highly recommend this tour; Ben is an excellent guide and a great source for travel tips.”— Katherine201892

3. Sailing on San Francisco Bay aboard the brigantine Matthew Turner

Two hours of sailing on the largest boat in the bay—views of the Golden Gate, Alcatraz, and local wildlife like seals and porpoises.

“I had a fantastic experience on the Matthew Turner as we sailed to Santa Cruz. Our first night began with a sail in the bay, where the crew introduced us to the boat. After a serene night anchored near Tiburon, we enjoyed a delightful meal. The following morning, we ventured out the Golden Gate and made our way to Half Moon Bay. The crew quickly resolved an anchoring issue, leading to another enjoyable evening in the harbor. On the next leg, our crew expertly trimmed the sails, allowing us to glide swiftly toward Capitola, where we spotted whales and numerous sea birds. Throughout our journey, the crew involved us in seamanship, teaching us to raise the sails, steer the boat, and understand the various systems onboard. My highlight was learning to use a sextant for sun sightings. On our final day, we sailed around Monterey Bay and concluded our adventure with a dinghy ride to Santa Cruz. This was an unforgettable voyage.”— Awesome-Sphere

4. Sausalito Wooden Boat Tour with local artist Victoria Colella

Three to three-and-a-half hours walking and exploring — historic houseboats, art studios, and the working waterfront in Sausalito with local refreshments provided.

“Last week, we brought our team of 12 on Victoria's tour, and it was truly a wonderful experience. This tour offers a fascinating insight into the American cultural revolution of the 60s, covering aspects like hippies, beatniks, LSD, and enlightenment philosophy. You get to see and interact with artifacts from that era in a distinctive manner.”— susankstrom

5. Sausalito houseboat history walking tour

Two-hour walking tour of Sausalito's houseboat community, exploring its rich history through stories from local artists and authors.

“This tour is outstanding. It doesn't feel hurried or scripted like some others I've experienced. Our guide, Victoria, demonstrates deep knowledge and passion for the community and its preservation. The time passed quickly as she shared fascinating stories about the various wooden boats. It's accessible for all ages and abilities, and I highly recommend it.”— kasper1101

6. Food and wine tour of Sausalito

Three hours, small group — a guided culinary tour with food and wine pairings at local restaurants and historical storytelling about Sausalito.

“The restaurant options were excellent. I enjoyed the varied courses: charcuterie with bubbly, distinct clam chowder with rosé, gnudi with scarpetta, and bread pudding with white port. This was the highest food quality I’ve experienced on a food tour. Our guide was very knowledgeable and friendly. The walking was moderate on a beautiful route.”— Mkolt

7. Alcatraz and Muir Woods day tour with Golden Gate Bridge stop

A full-day tour including Alcatraz admission, Muir Woods views, and a brief Golden Gate Bridge stop — with assigned time slots for each attraction.

“Muir Woods was truly stunning, and the massive trees left us in awe. The tranquility of our walk added to the experience. Our driver, James, was very knowledgeable and provided an excellent guided tour during our travels. Brunch near The Golden Gate Bridge was delightful, and we were dropped off safely to catch the ferry to Alcatraz, which was an amazing site.”— leannecP8724DJ