You do not need reservations. Just go to the marina in Cabo San Lucas. There are always boats waiting to take you on a tour. The cost per adult is $10 USD and some boats will charge 1/2 for children. You will have the option to get off at Lover's Beach or you can just ride. The ride is about 45 minutes long. If you do choose to get off at Lover's Beach, you will have to tell your boat captain what time you wish for him to pick you back up. You need to remember the name of your boat because you will take the same boat back to the marina. If you are planning on relaxing at Lover's Beach, make sure to take plenty of food and water. There is no shade or vendors. Beware that the water can be rough at times in this area so if you are not a strong swimmer, I do not advise you to get into the water. Also, you will have to jump off the boat into the water so if you are carrying any items they will get wet. If you are traveling with elderly or small children, I advise to just take the boat tour and not get off at Lover's Beach.
You can also catch a glass bottom boat from Medano Beach. You will have to climb into the boat from the beach and this can be rather difficult for some. It is much easier to get onto the boat in the marina from the dock.
If you like to snorkel, be sure to take your snorkeling gear. A great spot to snorkel is around "Pelican's Beach". This is a small beach before you get to Lover's Beach. When snorkeling, use caution because there are lots of boats, kayaks, etc.
Make sure to take your camera, sunscreen, water and crackers to feed the fish! You will be amazed at how many fish will come up to the surface if you sprinkle crackers in the water.
Don't forget to tip your boat captain!!
Check out these videos of the glass bottom boat tour with an up close view of El Arco: https://youtu.be/l_Q4YGJLYqI
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