Across From San Francisco Lies A Gorgeous Coastal City With Bayside Shops & Recreation

Sausalito is a stunning seaside spot filled with artsy boutiques and water activities, with great views of the Golden Gate Bridge and the skyline of San Francisco. All of this adds up to make it perfect for a couple's vacation during your next trip to California, a mere 30-minute drive from San Francisco International Airport (SFO).

The spot on Richardson Bay was originally home to the Coast Miwok people. Spanish colonizers came and named the area Saucito, or "little willow," after the small willow trees that grew along the banks of streams in the area, eventually becoming Sausalito. The town grew into a transportation hub for ferries and trains by the 20th century, and then a major shipyard during World War II. The decline after the war introduced a bohemian vibe. Artists, writers, and hippies moved in thanks to gorgeous scenery and low rents. Their creative energy still remains in the small city that is now home to just over 7,000 people.

Sausalito is easily accessible from San Francisco. You can walk, bike, or drive across the Golden Gate Bridge, a 1.7-mile suspension bridge that connects the city with Marin County. However, before crossing San Francisco's most famous bridge on foot, check out a first-timer's guide to walking the Golden Gate Bridge. The other option is to arrive by ferry. The Golden Gate Ferry (a one-way adult ticket costs $14) departs from the San Francisco Ferry Terminal, while the Blue & Gold Fleet (which costs $14.75) leaves from Pier 41. We suggest taking the ferry at least once, as the water is one of the best ways to see San Francisco's famous landmarks – from the Golden Gate Bridge to Alcatraz and Fisherman's Wharf.

Life in Sausalito largely revolves around the water, as it does throughout Marin, giving it a Mediterranean vibe. It is lined with harbors and marinas that have berths for hundreds of boats of all sizes — including a large houseboat community. More than 400 floating homes are docked in five residential marinas. The colorful houses are made of barges leftover from the World War II shipyard. The houseboats, created with what was considered junk, are now worth a pretty penny.

The Bridgeway Promenade is on the other side of the docks. The paved road, with wide sidewalks on both sides, is the main street in Sausalito. It is lined with art galleries, gift shops, wine-tasting rooms, and restaurants with views of the water. Check out contemporary art by emerging artists at Hanson Gallery Fine Art and oil paintings by international artists at Galerie Elektra. Start your holiday shopping early at the Holiday Shoppe. The family-owned store has unique ornaments that will remind you of your time in the Bay Area.

Then you can sip California wines by the glass or in a flight at the Bacchus & Venus tasting room. If you fall in love with a syrah from the Russian River Valley, you can always ship bottles home. Hungry? Salito's Crab House & Prime Rib and Scoma's of Sausalito both offer great seafood dishes and even better sweeping bay views. Once you're done eating, head to Gables Inn or Hotel Sausalito, both boutique locations in historic buildings, offering luxurious stays just steps away from the water.

After walking along the Bridgeway Promenade, it's time to find the adventurous side of Sausalito by getting out on the water. Call of the Sea offers weekend public sails on the Matthew Turner, a tall ship (priced from $99). Watch how the crew works the brigantine and deftly maneuvers through the bay. At Sea Trek, you can rent kayaks and stand-up paddleboards (from $35 per hour), or take a guided tour (from $100), including a Golden Gate 'N Back Kayak Tour (adults cost $145) that has great views of Alcatraz Island. Plus, Modern Sailing School & Club will teach you how to sail for $175. You will learn how to hoist and trim the sails, as well as steer the yacht, on San Francisco Bay, notoriously tricky waters.

Those who prefer to stay on dry land can pedal around town on a bike from Sausalito Bike Rentals for $50 to $125 for an electric multi-seater. The environmentally friendly bikes are equipped with iPhone holders, so you can make your own travel videos and navigate along your trip. Or hike up Slacker Hill in the Marin Headlands in the Golden Gate National Recreation Area. The 4.3-mile, out-and-back trail begins at Sausalito's Morning Sun Trailhead. With its well-maintained trail and absolutely stunning views, it's one of the best hikes in the area.

Then, after taking endless photos of the Golden Gate Bridge, return to Sausalito for a celebratory treat at Lappert's. The famous Hawaiian cafe sells coffee and ice cream in island-inspired flavors. A Kona mocha chip cone sounds perfect right now. So does another stroll along Sausalito's waterfront.