Taking a glass bottom boat does not require reservations. If you are relaxing on Medano Beach, you can ask any of the vendors and the boats will pull right up on the beach to pick you up. They only accept cash and you may want to negotiate the price. For two adults and two small children, I have been charged around $20USD to take the tour. Most boats run between 10am-5pm. If you are wanting to watch the sunset, I suggest taking a dinner cruise instead. http://www.thecabolife.com/blog/time-to-party-in-cabo A lot of these boats you literally have to climb into and it may be a struggle. If you are not physically fit or traveling with someone whom is elderly, I suggest going to the marina to catch a ride. In the marina you will enter the boat from the docks and it is much safer.
The glass bottom boat driver will give you a tour around the arch and into the Pacific Ocean and then they will turn back around. If you are wanting to spend the day at Lover's Beach, they will drop you off on the shore and you will arrange a time of when they will pick you back up. Make sure you remember the name of your driver and his boat. They will all start looking the same and you must take the same boat that you got dropped off because you have already paid him for the roundtrip. Once again, be very careful getting off the boat onto Lover's Beach. I have gotten several bruises from getting off these boats. If you are going to swim and snorkel on Lover's Beach, be very cautious because there is an undertow and it can become very dangerous. There are no lifeguards. You can walk to the other side of the beach, known as Divorce Beach. This side is very rough because it is the Pacific Ocean. How cool is that! You can be swimming in the Sea of Cortez and then walk a few steps and you are in the Pacific Ocean!
Make sure to pack your snorkeling gear, a bag of snacks, plenty of water and keep all valuables in a ziplock bag because they may become wet! Don't forget to bring crackers to feed the fish. There are no vendors at Lover's Beach. There are also no chairs or umbrellas.
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