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San Francisco Hiking & Camping

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San Francisco Tours

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Hidden Stairways of San Francisco
5.0 (265)

Hidden Stairways of San Francisco

Please note: this walk is not at all strenuous. Obviously there's some stairs but this is done at a leisurely pace and suitable for almost...

2 hours • Free Cancellation
5.0 (265)
from
$37
Iconic San Francisco Urban Hiking Tour
5.0 (10)

Iconic San Francisco Urban Hiking Tour

See epic views of the iconic sites of San Francisco’s northern neighborhoods in this 5-mile small-group, locally-led urban hike that takes you from city sidewalks...

3 hours • Free Cancellation
5.0 (10)
from
$49
California Adventure Bundle: 13 Self-Guided Audio Tours
4.5 (2)

California Adventure Bundle: 13 Self-Guided Audio Tours

Explore California's Best with Shaka Guide's California Audio Tour Bundle! Discover Lake Tahoe's clear waters, Joshua Tree's otherworldly landscapes, Yosemite's majestic beauty, Death Valley's unique...

8 days • Free Cancellation
4.5 (2)
from
$49
Muir Woods and Sausalito Half Day Tour
4.7 (288)

Muir Woods and Sausalito Half Day Tour

Escape the city for a premier Muir Woods tour from San Francisco, located just 30 minutes from downtown. On this Muir Woods day trip, enjoy...

5 hours • Free Cancellation
4.7 (288)
from
$99
Introduction to Wilderness Survival Clinic in Marin County
5.0 (1)

Introduction to Wilderness Survival Clinic in Marin County

Learn the ancient skills of survival in the woods, including how to build a shelter, gather water, make a fire, and forage edible plants or set...

5 hours • Free Cancellation
5.0 (1)
from
$145
Yosemite Day Tour from San Francisco
4.5 (717)

Yosemite Day Tour from San Francisco

Yosemite National Park is a must-visit California gem, and this day trip from San Francisco makes it easy. Leave the urban hustle-bustle behind and journey...

15 hours • Free Cancellation
4.5 (717)
from
$209
From San Francisco: Yosemite & Giant Sequoias in Small Group
4.4 (72)

From San Francisco: Yosemite & Giant Sequoias in Small Group

Explore glacially-formed cliffs, wildflower-speckled meadows, and hike to the towering Sequoias in the heart of Yosemite’s dynamic wilderness. Immerse yourself in our day-long tour with...

14 hours • Free Cancellation
4.4 (72)
from
$209
Muir Woods and California Cliffs
4.8 (5)

Muir Woods and California Cliffs

Enjoy magical Muir Woods, then go beyond. Coastal California awaits! Visit the village of Point Reyes Station. Walk through Point Reyes National Seashore. Escape Bay...

10 hours • Hotel pickup offered • Free Cancellation
4.8 (5)
from
$249
Yosemite National Park 2-Day Winter Tour from San Francisco
Likely to Sell Out
Likely to Sell Out
3.8 (12)

Yosemite National Park 2-Day Winter Tour from San Francisco

Immerse yourself in the beauty and solitude of Yosemite National Park in the winter for two days of crisp, fresh mountain air on this semi-guided...

2 days
3.8 (12)
from
$599
Picture your best SF tour ever! (Epic Bay Area photo adventures)
5.0 (13)

Picture your best SF tour ever! (Epic Bay Area photo adventures)

THIS IS THE OPPOSITE OF A PACKAGED TOUR. It's a private, customized journey through our most unique and iconic scenery. Along the way, I'll show...

8 hours • Hotel pickup offered • Free Cancellation
5.0 (13)
from
$600
Yosemite National Park 2-Day Tour from San Francisco with Lodging
4.7 (426)

Yosemite National Park 2-Day Tour from San Francisco with Lodging

Experience the Yosemite tour voted in the top 10 multi-day tours on Cool San Francisco! We are also the 'Greenest Tour Company in San Francisco'...

2 days • Hotel pickup offered
4.7 (426)
from
$629
Yosemite 3-Day Camping Adventure from San Francisco
4.8 (209)

Yosemite 3-Day Camping Adventure from San Francisco

Immerse yourself in the heart of the High Sierra on this 3 day Yosemite tour, designed for those who crave an authentic outdoor adventure without...

3 days
4.8 (209)
from
$676
Yosemite 3-Day Lodging Adventure from San Francisco
4.8 (24)

Yosemite 3-Day Lodging Adventure from San Francisco

Explore America's favorite national park on a 3-day lodging tour that takes you off the beaten path to trails and sights unseen by most who...

3 days
4.8 (24)
from
$1,029
Private Yosemite Day Trip from San Francisco w/Giant Sequoias
5.0 (1)

Private Yosemite Day Trip from San Francisco w/Giant Sequoias

Yosemite National Park, renowned for its towering granite walls and Giant Sequoias, awaits on this exclusive private day trip from San Francisco. This 12 to...

12 to 13 hours • Hotel pickup offered
5.0 (1)
from
$1,500

Frequently Asked Questions

These answers are based on answers previously given to Cool San Francisco customers' questions.

Recent tour reviews
Great two days
New York City
Yosemite National Park 2-Day Tour from San Francisco with Lodging
K8153ZCab, Sep 2026
Great two days
Amazing two days in Yosemite. Our guide Lana led an incredible tour, showing us some amazing locations and viewpoints with lots of great information and tips on the trip.
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Amazing experience
New York City
Yosemite National Park 2-Day Tour from San Francisco with Lodging
ema0ne, Sep 2026
Amazing experience
Eventhough we didn't get to see any bears or coyotes, this was still a trip of a lifetime. Phil our guide was excellent, very knowledgable and very helpful. The stops and look out points were great and we didn't feel rushed. The scenery was awe inspiring and the itinery was great. My husband has limited mobility and we adapted to his needs without compromising the experience. We opted to stay overnight at yosemite valley lodge and were glad it was just one night, as although the surfaces were clean the floor was dirty and covered in chocolate wrappers from a ptevious occupant. The location was worth it and we got to see the deer and stella jays, plus the walk to cooks meadow and lower yosemite falls was close by. We used the free park shuttle which was helpful and easy to navigate. We wished we had more time and money to stay longer and see more but it was an amazing experience.
Read more
Must see and do
New York City
Yosemite Day Tour from San Francisco
Romarico_L, Sep 2026
Must see and do
This is a must do if one is visiting SF for the first time. Cool San Francisco has offered us the opportunity to experience it without the hassle of having to worry about driving there yourself. The drive is beautiful with ample time for a pit stop and shop for food. Our driver Aidan was very nice, professional, and knowledgeable.
Read more
Yosemite Valley Tour Review - Incredible Adventures
New York City
Yosemite Day Tour from San Francisco
josvinj2026, Sep 2026
Yosemite Valley Tour Review - Incredible Adventures
I had a great experience on the Yosemite trip with Incredible Adventures. The tour was very well organized, and everything went according to plan. Our tour guide was exceptional. She was knowledgeable, friendly, and explained everything in great detail. I decided to take the Mist Trail, and her guidance made the hike much easier to navigate. She showed me where to board the shuttle, explained where to go to get the best views of Vernal Falls, and made sure I understood how to get back to the van. Thanks to her clear instructions, I was able to complete the hike within the allotted time and return to the van comfortably.We left early at around 6:20 AM and got back quite late, around 10 PM, but it was absolutely worth it. Yosemite was beautiful, and the entire day was a memorable experience.The only downside was that the coach’s AC was not kept on after the initial part of the journey. We were asked to open the windows instead. Given the long travel time, I would have preferred the coach to be fully air-conditioned throughout the trip.Other than that, everything worked as planned. Overall, I would definitely recommend Incredible Adventures for a Yosemite trip, especially because of the excellent
Read more
Thank you guys
New York City
From San Francisco: Yosemite & Giant Sequoias in Small Group
O376JBmilanp, Sep 2026
Thank you guys
Huge thank you to Incredible Adventures for an amazing experience! Everything was perfectly organized, fun, and unforgettable.A special thank you to Sarah, our guide, who made the tour even better with her amazing energy, friendliness, knowledge, and interaction with everyone. She truly made us feel welcome and made the whole experience so much more enjoyable.I couldn’t have asked for a better tour. Highly recommended! ⭐️⭐️⭐️⭐️⭐️Thank you, Incredible Adventures and Sarah, for an unforgettable day! ❤️
Read more
Great 3 day trip to Yosemite with stay at Cedar Lodge
New York City
Yosemite 3-Day Lodging Adventure from San Francisco
699nicholeh, Sep 2026
Great 3 day trip to Yosemite with stay at Cedar Lodge
Josh was an outstanding guide. He had so much knowledge of SFO, surrounding areas we passed, and Yosemite. Our group appreciated his hard work and guide efforts. The tour was busy, but you get to see so much. The free day is great as you can divide and conquer the areas seen on the first two days. The park has so much to offer for all levels of activities and ages.
Read more
1000/10!! Too good, honestly one of the best trips I’ve done
New York City
Yosemite 3-Day Camping Adventure from San Francisco
yingzhaoz2026, Sep 2026
1000/10!! Too good, honestly one of the best trips I’ve done
I joined the three day camping trip from SFO and have absolutely loved it. Blessed with the weather, a small hut super friendly female only group (agin hit the jackpot on this), and FABULOUS route. Loved every single minute of it. The trip was planned to cover the best spots in the valley and around, and our guide Josh was funny and pretty knowledgeable with everything that’s going on. 1000/10! Have recommended to my family to do the trip also.
Read more
Yosemite & Giant Sequoias
New York City
From San Francisco: Yosemite & Giant Sequoias in Small Group
ericfC4576JC, Sep 2026
Yosemite & Giant Sequoias
Excellent tour! Our guide (Johanna) was very professional, knowledgeable and kept us entertained the entire day.
Read more
Fun two hours
New York City
Hidden Stairways of San Francisco
annemO2738BD, Sep 2026
Fun two hours
This was a fun outing and a nice leisurely walk through parts of SF that’s off the common tourist path. The guide was amazing and the views were spectacular.
Read more
Beautiful Scenic Tour
New York City
Hidden Stairways of San Francisco
Cheri_D, Sep 2026
Beautiful Scenic Tour
Greg is a wonderful, knowledgeable and friendly tour guide. A people person! The walk was enjoyably easy.
Read more
A day in nature heals the soul
New York City
Muir Woods and Sausalito Half Day Tour
Amy_C, Aug 2026
A day in nature heals the soul
Be sure to prepare for curvy roads if you are prone to motion sickness. Wonderful tour that I would do again. Muir Woods is exceptional.
Read more
Yosemite was awe inspiring
New York City
Yosemite 3-Day Lodging Adventure from San Francisco
B866CLbarbaral, Aug 2026
Yosemite was awe inspiring
We loved our trip to Yosemite. We cannot emphasize enough how wonderful our tour guide Ben was. He is fabulous.! He is to be commended for his even keel manner and his great knowledge of the park. He made the trip so enjoyable for us. I would go on another tour with Ben. My only complaint was with the company description of the trip. It was not clear that we were eating at Ben's campsite for many of the meals. The food was kept cool in a cooler, but for me that was quite worrisome. I have a medical condition that requires me to eliminate many foods. I was only somewhat successful with that but it also made the meal for others not as much fun since I had to put restrictions on food. Also, I had constant stress about spoilage since there was no refrigeration, just ice. There was potential for me to become ill if something was not cool enough. I think the company should consider making that part of the trip much clearer and should be asking about medical conditions and not just food preferences. Lastly, the rooms at the lodge have refrigeration. Certainly once at the camp site, many of the foods could have been stored in travelers' mini fridges. We love Ben, but urge the company to make it much clearer as to how the meals will take place.
Read more
Peaceful
New York City
Muir Woods and Sausalito Half Day Tour
samanthalist8, Aug 2026
Peaceful
Lana, our guide, was AMAZING. This was my best experience in San Fran largely because I lucked out with her as a guide. Not all the guides are like her. If you can request her - do it! The Muir Woods were so beautiful as was Sausalito. This was worth the visit if you enjoy a nice walk through the wilderness, nicely combined with some leisure time along the bay.
Read more
Awesome trip to Muir and beyond
New York City
Picture your best SF tour ever! (Epic Bay Area photo adventures)
AdamK6661, Aug 2026
Awesome trip to Muir and beyond
I hired Nik to show me and five friends the highlights on the other side of the Golden Gate Bridge - Muir Woods, Sausalito, the bunkers, and so on. It was fantastic for multiple reasons. First, the itinerary was a true collaboration between us - I had a ton of ideas and Nik figured out how to translate that into a coherent itinerary that made logical sense taking into account distances, times of day, and the weather. Second, because he grew up in the area, his commentary was personal anecdotes that put what we were seeing in greater sociological context. Third, whenever the weather turned crappy, which happened a lot, he could instantly pivot to a perfect Plan B. Fourth, he went above and beyond to arrange things we needed that I could not have done myself because I was coming from out of town, including a birthday cake (!) for someone in the group, which was served in the perfect scenic spot. Fifth, his recommendation lunch place was awesome and I never would have known about it. Sixth, it was just a good vibe overall with someone who was on our wavelength and not just a robotic and overly formal guide. Anyway, I could go on and on. Suffice it to say, highly recommend.
Read more
Amazing
New York City
Yosemite 3-Day Camping Adventure from San Francisco
TrailBlazer535161, Aug 2026
Amazing
Amazing! All of it! Would definitely do this again and recommend to anyone!
Read more
Did it!
New York City
Muir Woods and California Cliffs
Robin_M, Jul 2026
Did it!
Great trip overall! I would love to have more time in Point Reyes. One hour is not very long to see the town, let along eat lunch. I’d rather skip the mead tasting or get back a bit later. Our guided Tristan was great and we really enjoyed ourselves…Its a great way to get an overview of the area
Read more
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