Truely awe inspiring to see the giant redwoods and imagine what it was like when the area was covered in them. The trip is operated by Tower Tours, who have the only tour of 1½ hours duration in the Muir Woods according to the driver. This gives you the chance to go as far as The Cathedral at a leisurely and photo-snapping pace and still get back in time for the rest of the tour.
Sausalito is quaint and the Ferry Boat return wraps up an enjoyable day.
Give Lappert's Ice Cream a try while you're in Sausalito. Home made and very tasty.