Fort Baker in Marin County is a national park and part of the Golden Gate National Recreation Area. It also happens to be one of the Bay Area’s best-kept secrets. Tucked just north of the Golden Gate Bridge, this scenic spot offers unbeatable views, historical charm, and family-friendly fun—all just minutes from San Francisco. Whether you’re planning a relaxed day outdoors, looking for free things to do in San Francisco, or hoping to visit the Bay Area Discovery Museum, Fort Baker makes the perfect starting point.
1. Start Your Morning at Fort Baker
Take a Peaceful Morning Stroll Through Battery Yates
Begin your day with a refreshing stroll along the Battery Yates trail. This historic military site is lined with lush greenery, gentle hills, and coastal breezes. Kids will love exploring the old bunkers, while adults can appreciate the peaceful, wide-open views of the Bay. It’s an ideal first stop to stretch your legs and connect with nature in Fort Baker, Marin County.
Take in Iconic Views of San Francisco
Just steps from the trail, you’ll find sweeping views of the Golden Gate Bridge, Alcatraz, and Angel Island. Whether you’re a visitor or a local, this vantage point never gets old. Don’t forget your camera—this is one of the most iconic photo spots in Fort Baker, Marin County, and a must for any list of things to do in San Francisco.
2. Enjoy a Relaxing Picnic at the Fort Baker Parade Ground
Pack a Lunch and Make a Day of It
Looking to slow down and enjoy the moment? Bring a picnic lunch and head to the parade ground, an open field at Fort Baker. It’s one of the best free things to do in San Francisco for families with kids. With grassy lawns, shady trees, and a backdrop of the San Francisco Bay, it’s the perfect setting for a midday break. If you’re planning to visit the Bay Area Discovery Museum nearby, be sure to grab a re-entry stamp at the Front Desk so you can enjoy both lunch and more museum adventures without missing a beat.
3. Stroll Around Horseshoe Bay and Catch the Sunset
Reflect and Unwind at Golden Gate Panorama View Point
As the day winds down, take a golden hour stroll along the edge of Horseshoe Bay. This quiet marina offers lovely views of bobbing boats, the shoreline, and the iconic golden towers of the bridge. End your stroll at the Golden Gate Panorama View Point, where sunset paints the sky in warm golds and oranges or fog rolls in over the Marin Headlands. It’s a peaceful way to close out a full day of exploring Fort Baker.
4. Visit the Bay Area Discovery Museum
Explore Interactive Exhibits and Family-Friendly Experiences
If you’re travelling with young children, a visit to Bay Area Discovery Museum is a must. Located right inside Fort Baker, our award-winning children’s museum features interactive exhibits, inspired outdoor spaces, and creative STEAM-based activities designed to spark curiosity in kids of all ages. It’s educational, exciting, and beautifully situated at the foot of the Golden Gate Bridge, making it one of the top things to do in the San Francisco Bay Area with kids.
Bonus Adventures: Explore Nearby Marin Headlands
Looking to keep the adventure going? Just a five-minute drive from Fort Baker, through the Baker-Barry Tunnel, the Marin Headlands offer even more to explore. A perfect excursion for those seeking hikes, beach adventures, and several other free things to do in San Francisco and the surrounding area.
Hawk Hill — Enjoy Panoramic Coastal Views
Drive, hike, or bike up to Hawk Hill for sweeping, panoramic views of the Pacific Ocean and the San Francisco skyline. It’s a favorite spot for birdwatchers and photographers alike.
Point Bonita Lighthouse — Step Back in Time
Book a guided tour with the Golden Gate National Parks Service to explore this historic lighthouse and its essential role in Bay Area history. The trail includes a cliffside tunnel and dramatic ocean vistas—well worth the effort!
Rodeo Beach and Lagoon — A Natural Wonderland
Spend some quiet time exploring Rodeo Beach and Rodeo Lagoon. This serene coastal area is a haven for sea lions, pelicans, herons, and more. It’s a great place to unwind and connect with nature before heading home.
Ready to Plan Your Visit?
Before heading out, be sure to check the official visitor information and directions for Fort Baker. From parking tips to nearby trails and scenic spots, it’s your go-to guide for a smooth and enjoyable trip.
If you’re a family with children, Bay Area Discovery Museum is an essential stop in your exploration of Fort Baker in Marin County. With hands-on Discovery Zones and family-friendly fun, it’s the perfect way to round out your day.
Start planning today and create unforgettable memories with your family!