SF's transit problem is the opposite of most American cities.
Don't drive in the city. Parking is $50-$80 a night at downtown hotels. Street parking is metered, time-limited, and ticketed if you blink. The hills make biking serious work. Walking covers most of the trip. Transit covers the rest.
Do rent a car for the Marin day. This is the single best parent move in SF. Pick up a car at SFO on arrival or at a downtown branch, drive across the bridge for the Muir Woods + Sausalito + Bay Area Discovery Museum day, return the car the next morning. Three of the trip's strongest beats in one rental.
The transit math:
BART is the regional rail. Useful for the SFO airport transfer (~30 min, ~$11 adult one-way after the Jan 2026 fare increase, kids under 5 free) and for East Bay day trips (Oakland, Berkeley). It is NOT a city subway — only about six stops in SF proper. For getting around inside the city, use Muni.
Muni is the local network — buses, light rail under Market Street, surface streetcars including the historic F-Market, and the three cable car lines. Muni is free for all kids 18 and under except for the cable cars. Standard adult fare on Clipper/MuniMobile is ~$2.85 (raised July 1, 2026); cash slightly higher. The MuniMobile app day passport is ~$13 and includes cable cars. Without cable cars, the ~$5 version covers everything else.
The F-Market historic streetcar (Castro ↔ Market ↔ Embarcadero ↔ Fisherman's Wharf) is the parent-favorite. Restored 1940s wood-and-brass trams that count as both transport and entertainment. Same fare as a regular bus. Strollers fit (cable cars don't allow them).
Cable cars are the iconic ride but not really transport. $9 per ride for ages 5+, free under 4, no kid discount. Powell-Market queues run 60-90 minutes mid-day. Hyde + Beach turnaround at the north end has shorter lines. California Street line (Embarcadero ↔ Van Ness via Nob Hill) almost never has a wait. The free Cable Car Museum at Mason and Washington is the under-5 alternative when the line is too long.
Uber, Lyft, and Waymo. Here's the California car-seat trap nobody tells you. State law requires car seats for kids under 8 and under 4-foot-9. Uber and Lyft drivers cannot legally transport kids without seats. They will cancel on you. The options:
- Bring your car seat from home (it flies free as checked baggage with the stroller).
- Use Uber Car Seat (limited driver supply, longer waits — works in a pinch).
- Pre-book a car service that installs seats for you (a few SF operators do this — book 24-48 hours ahead).
Waymo is the driverless option (fully autonomous since 2024). You install the car seat yourself before boarding. Kids find it genuinely entertaining — there's nobody in the driver's seat, the steering wheel turns by itself, it stops at red lights like a person. Teens will not stop talking about it.
The hills + strollers reality. Use an umbrella stroller, not a full travel system. Cable cars technically don't allow strollers (the conductor will wave you off with a full one). The Hyde Street descent from the cable car turnaround down to the Wharf is the single steepest stroller-with-kid push in the central city. Take the cable car up. Walk down. Your knees will thank you.
For Nob Hill and Russian Hill with a baby, a soft carrier or hiking backpack carrier is the standard parent move. A friend who lives here once put it this way: "SF rewards parents who like a workout." She wasn't joking.
The Marin-day rental rule, restated. Don't rent until day 3 or 4 of your trip. Pick up the car for the day-trip day only. Pre-pay parking at Muir Woods at GoMuirWoods.com — it's required since 2018 and sells out 2-4 weeks ahead in summer. Lunch in Sausalito. Bolt on Bay Area Discovery Museum at Fort Baker. Return the car before dinner. $80-$150 total for the rental + parking. Trying to do the same trip by ferry + Uber + shuttle adds 2-3 hours of transit and gets stressful with kids.