Either SF MUNI or Golden Gate Transit buses will get you to our starting point, the Golden Gate Bridge. The walk across the bridge is 1.7 miles, but plan for a good hour to enjoy the fantastic views.

Important note: In terms of clothing, remember three things when taking this walk: layers, layers and layers. During foggy summer months, a 50 degree San Francisco morning usually jumps to a 70 degree sunny Sausalito afternoon.

Golden Gate Bridge, southern view — Photo courtesy of Tom Molanphy

Golden Gate Bridge — Photo courtesy of Tom Molanphy

Golden Gate Bridge, northern view — Photo courtesy of Tom Molanphy

Once you're over the bridge, follow the path to the Vista Point parking area, which has bathrooms and water fountains. Follow the stairs underneath the bridge that will get you on your way to Sausalito, a mere 2.9 mile away.

Sausalito Walk/Bike trail — Photo courtesy of Tom Molanphy

Important note: Walking along Alexander Avenue is a more direct route, but it's a high traffic area. Follow the posted walk signs to Sausalito for a safer, more enjoyable day.

Even though you're off the bridge, the stunning views do not stop.

Golden Gate Bridge

If you happen to have kids in tow, the Bay Area Discovery Museum is a welcome side attraction on the walk. If you're ready for an adult break, check out Farley's Bar at recently renovated  Cavallo Point Hotel. Or, if you packed a lunch, there are picnic tables and benches along the hike, too, like this one with a gorgeous view of Angel Island State Park.

Angel Island — Photo courtesy of Tom Molanphy

Once you reach Sausalito, you'll find endless cafes, bars and restaurants to rest your sore feet, from high-end eateries like Scoma's to grab and go joints like Bridgeway Burgers.

Scoma'sBridgeway Burgers

With idyllic weather almost year round and a downtown area designed to accommodate visitors, not enjoying Sausalito is a challenge.

Downtown Sausalito — Photo courtesy of Tom MolanphyGabrielson Park, Sausalito — Photo courtesy of Tom MolanphyVina Del Mar Park, Sausalito — Photo courtesy of Tom MolanphySchoonmaker Point Marina, Sausalito — Photo courtesy of Tom Molanphy

In fact, some might argue it's your destiny to enjoy yourself in Sausalito.

Sausalito Yacht Club — Photo courtesy of Tom Molanphy

A person could easily lose track of time here, so keep your eye on the ferry schedule, which changes from season to season.

Important note: If you want to arrive at Pier 39 and not Pier 1 (downtown San Francisco), then take the Blue and Gold ferry to Pier 39/ Fisherman's Wharf.

You could always walk home again, but give yourself a break and take the ferry across the bay for more unforgettable views of the Golden Gate Bridge, Bay Bridge, Alcatraz and downtown San Francisco.

Golden Gate Bridge, ferry view — Photo courtesy of Tom MolanphyBay Bridge — Photo courtesy of Tom MolanphyAlcatraz — Photo courtesy of Tom MolanphyDowntown San Francisco — Photo courtesy of Tom Molanphy

A quick half-hour trip will land you back at Pier 1. If you still have the energy, all of downtown San Francisco is at your feet.

Ferry Building, San Francisco — Photo courtesy of Tom MolanphyFerry Building San Francisco — Photo courtesy of Tom Molanphy