Kayak Richardson Bay from Sausalito

Find your way to Schoonmaker Beach/Liberty Ship Beach in Sausalito (see the map). You can bring your own kayaks/stand up paddle boards, or rent from nearby Sea Trek. (First come, first serve rentals; no reservations.) If you rent from Sea Trek, you'll be able to park in their lot and take a dolly with your equipment down to the beach. If you're bringing your own gear you can park near the beach in one of the metered spots, or in a nearby paid lot. The beach is a great place to put-in due to it's protected and calm waters. There are also public restrooms and restaurants nearby.

Take note of where the beach is located, as it can sometimes be difficult to find your way back on the kayak (everything tends to look the same). Once you exit the protected beach area, turn left to head north and paddle past the marina. Here you will likely see the resident harbor seals basking in the sun and popping up around you while you float on by. Continue in this direction to explore the unique Sausalito houseboats and shoreline. Depending on the tide you can head even further north and under the freeway overpass into a grassy/mash area with great views of Mount Tam on a clear day. Keep a lookout for all kinds of wildlife and waterfowl! Depending on how long of a paddle you'd like to take, you can head back the way you came, or continue along the eastern shoreline for a slightly different view. On this side you will find a few small beaches where you can easily paddle ashore and take a lunch/snack break. 

When you're ready, head back to the beach where you started and spend some time swimming/relaxing, or grab brunch/lunch at Le Garage before heading home! Make sure to explore downtown Sausalito if you haven't before (but watch out for all the tourists)!

*Note: this would also be a fine place to put-in and kayak to Angel Island, but take note that there are strong currents in that direction (toward the ocean) and you will want to know the tides, as well as have more experience kayaking before taking on that adventure!