San Francisco has steep hills and limited public transit options, but its manageable size makes it easy to visit the most popular landmarks without much fuss. And there are plenty—from Golden Gate Park and crooked Lombard Street to Pier 39 and Fisherman’s Wharf. Most city sightseeing tours visit all of these and more, while hop-on-hop-off-bus tours offer speed and flexibility. To slow down and uncover the city’s past, opt for neighborhood walking tours.

San Francisco's most notable attraction, the Golden Gate Bridge should be on every first-time visitor's itinerary. Don't miss the chance to bike over the art deco span, which traverses about 1 mile (1.6 kilometers) over the Golden Gate Strait from Fort Point to the Marin Headlands. Guided tours can lead the way, or you can easily rent a bike on your own. The latter option makes it easy to explore farther afield, from Crissy Field and the Presidio on the city side to Sausalito across the bay.

One of the last manually operated cable car system on the planet, San Francisco’s cable cars have been hauling folks over the steepest hills since the late-Victorian era. Most visitors hop on near Union Square and ride the Powell-Mason line to North Beach, or the Powell-Hyde line to Fisherman’s Wharf; a third line cuts across Chinatown on California Street from the Embarcadero. Make sure to visit the Cable Car Museum to see original cars and how the 19th-century cable-and-grip system works.

San Francisco is one of the greenest cities in the US, blossoming with parks, gardens, and open green spaces. To take advantage, lace up comfortable walking shoes and explore the city on foot. Where to tread? Trails in Golden Gate Park and the Presidio meander through true urban forests. For a challenge, conquer the hidden staircases and steep hills near Coit Tower. Alternatively, check out Tank Hill and Kite Hill—scenic spots favored by locals—on your climb to Twin Peaks and Sutro Tower.

Visit world-class museums around a few square blocks downtown: the San Francisco Museum of Modern Art, the Contemporary Jewish Museum, and The Museum of the African Diaspora. Destinations for art outside the downtown hub include the de Young, located inside Golden Gate Park, and the Legion of Honor located inside Lincoln Park near the Presidio. A little more off-the-beaten-path, the Institute of Contemporary Art in the Dogpatch neighborhood is a free, adventurous option.

The San Francisco Bay is the Bay Area’s defining feature, with waters touching Marin County to the north and San Jose to the south. There’s no better way to explore the region than getting on the water. Bay cruises race out of Pier 45 in search of the best views, while combination tours explore the mainland before doling out ferry tickets to Alcatraz Island. For romantic types: sail past Alcatraz and under the Golden Gate Bridge during sunset.

When you’re in San Francisco, fantastic hiking trails are a stone's throw away. Don't miss the majestic redwood trees in Muir Woods, just over the Golden Gate Bridge in Marin County. Popular loop trails wind among the trees along Redwood Creek from the visitor center and back in about 30–90 minutes, while longer trails extend into Mount Tamalpais State Park next door. To visit, it’s best to book a tour that includes a hike or two and stops at Sausalito's waterfront.

Don't overlook the lesser-known museums ... even on a first-time visit. Stop by the Museum of the African Diaspora to get a better grasp on Black culture in the US and beyond. Or visit the Beat Museum for a closer look at the literary movement that's most closely associated with San Francisco. Whichever under-the-radar spot you choose, you'll be glad to have ventured (even briefly) off the beaten path.

No trip to San Francisco is complete without checking out the city’s wilder corners. Before you leave, visit out-of-the-way neighborhoods—parts unknown that tour groups rarely touch. The Presidio, Land’s End, and Golden Gate Park, the under-the-radar food scene in the Richmond District (“the Richmond” in the local lexicon) are all a must. We also recommend heading to the Dogpatch, an edgy part of town flourishing with new museums, restaurants, bars, and shoreline parks.

Sip famous wines in Napa and Sonoma—celebrated wine-producing regions just north of San Francisco. Take a wine-tasting tour to avoid driving yourself: group tours offer great value, while private tours let you choose which vineyards to visit. Wine Country, however, is more than just wine—it's full of historic towns and beautiful state parks. Wine trolleys are a fun way to travel between tastings, while bike tours roll through some of the prettiest trails in Northern California.