Welcome to the Cape Cod Tour
Explore all that Cape Cod offers, from quintessential lighthouses to sandy beaches, with this self-guided driving tour! As you drive on your Cape Cod scenic tour, see and learn about the Cape’s maritime traditions, Pilgrim and tribal history, and miles of beautiful beaches. The tour begins at the Cape Cod Visitor Center in Barnstable and ends at the historic Pilgrim First Landing Park in Provincetown.
Along the way, you’ll visit Nauset Lighthouse (the unofficial icon of the Cape), First Encounter Beach (which the Pilgrims explored), Marconi Station (site of transatlantic cables), and more!
About the Tour
The Cape Cod tours adventure begins at the Cape Cod Visitor Center and cruises east through historic Massachusetts towns. Along the way, our narrator will introduce you to the Nauset tribe, who fished and farmed here for thousands of years. Learn about their customs and legends, like the tale of the princess who kept a fish alive with her tears. And hear about their wariness when they spotted mysterious ships approaching from the horizon.
Continue to Eastham and trek down to First Encounter Beach, where you’ll hear a detailed account of the battle which broke out between the Pilgrims and the Nausets when the two first met, and later, their first peaceful negotiation. You won’t want to miss this historical, dramatic sequence of events!
And what’s more New England than lighthouses? As you drive, we’ll point out Cape Cod’s prettiest, loneliest lighthouses, all of which make for perfect photo ops. Learn the importance of these iconic buildings, and hear the harrowing tale that earned the Cape the nickname “ocean graveyard” before the lighthouses were built.
This Cape Cod self-guided driving tour is also full of optional detours, like the Audubon Wildlife Sanctuary. This is a can’t-miss stop for nature enthusiasts and bird watchers, featuring five miles of hiking trails.
Finally, arrive in Provincetown, a thriving epicenter of arts and culture. This colorful, vibrant community is about as far from the dour Pilgrims as you can get! Check out the art galleries, boutiques, theatres, and embrace the bohemian culture!
The scenic Cape Cod tour ends at the northern tip of the Cape, where it all began for the Pilgrims. Our final stop will show you the exact spot where the Mayflower first struck land. Not only is this place historical, but it’s also almost impossibly beautiful!
Soak up all the history, beauty, and culture of Cape Cod in one comprehensive self-guided driving tour. All without having to fuss with a map or adhere to someone else’s schedule! As you drive, audio stories will automatically pop up and start playing, allowing you to keep your attention on the beauty and history of Cape Cod and Provincetown.
Bonus Tour: Get an additional self-guided walking tour of Provincetown for free with this driving tour.
Hallo, Hola– Explore Cape Cod in German and Spanish!
Our tour is available in both languages, offering a comprehensive and immersive experience for all.
Upgrade and Save:
Upgrade now to one of these bundles and secure the best value
- Massachusetts Bundle: Enjoy 12+ self-guided driving and walking tours in Massachusetts for $39.99 per person and save 73%.
Looking to expand your tour?
- Newport Bundle: Explore Newport with self-guided driving and walking tours for $24.99/Car. Save 22% .
- NYC Bundle: Discover 6 self-guided walking tours of NYC for $49.99 per person and save 51%.
Want all of our tours? Upgrade to Action+:
- An annual $99.99/year subscription offers access to over 200+ tours.
- Unlimited use throughout the year.
- Includes free access to new tours as they are released.
Cape Cod Map
Where To Start?
Tour Start Addresses:
From Eastbound (Barnstable to Provincetown): Cape Cod Visitor Center, Barnstable, MA 02630, United States
From Westbound (Provincetown to Barnstable): MacMillan Pier Parking Lot, Ryder St Ext, Provincetown, MA 02657, United States
We recommend starting from the given addresses for the best experience.
How Does It Work?
- Once you book a tour, you’ll get a text/email with instructions.
- Download the app (while in good wifi/signal) and use your unique password to access your tours. If there are multiple versions or entrances for your tour, be sure to download all audio guides.
- Audio Setup: Connect your phone to the car stereo via Bluetooth, USB, or Aux, and bring headphones on walking tours. CarPlay and Android Auto are not yet supported. We are working with Apple for a resolution.
- To begin touring, go to the starting point and launch the app.
- The audio starts automatically once you reach the starting point. Stick to the tour route and speed limit for the best experience.
- Please note that no one will meet you at the starting point.
Audio Story Highlights
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Cape Cod Visitor Center
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The Famous Hook
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Nauset Tribe
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Scargo Tower & Lake
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Scouting Party
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Who Were the Pilgrims?
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Harwich
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First Encounter
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Aspinet and Squanto
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Eastham
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First Encounter Beach
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Welcome: Salt Pond Visitor Center, Eastham
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Nauset Light
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Coming Up: Nauset Lighthouse
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Three Sisters Lighthouses
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Mass Audubon Wellfleet Bay Wildlife Sanctuary
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Marconi Station
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Optional: Atlantic White Cedar Swamp Trail
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Whaling
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Highland Lighthouse
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The Kennedy Connection
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Pilgrim Spring Trail
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Detour: Pilgrim Spring
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Commercial St
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Provincetown
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MacMillan Pier
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Pilgrim Monument
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Conclusion: Pilgrims' First Landing Park
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Optional: Long Point Light Station
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Optional: Herring Cove Beach
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Optional: Race Point Lighthouse
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Optional: Beech Forest
Preview The Tour
Tour FAQs
It can be! Every year, over 4 million travelers visit Cape Cod on a tour, most of whom visit in July and August. This officially makes the Cape Cod National Seashore one of the most popular National Park destinations in the country!
You can count on a Cape Cod tour to show you the most famous sights: beaches, lighthouses, wildlife, and Provincetown!Cape Cod has everything, whether you’re looking for history, culture, shopping, or fresh lobster.
A car is the best method to explore Cape Cod on a tour. You’re going to want control of your own vehicle for all the exploring you’re going to do!
How can you choose just one? A Cape Cod tour will take you to all the best scenic vistas! Here are four places that you will absolutely want to have on your Instagram: Herring Cove Beach, Scargo Tower, Nauset Light, and The Atlantic White Cedar Swamp Trail.
Cape Cod is home to fourteen lighthouses!
Lighthouse Beach in Chatham is open all the time! No matter when your next Cape Cod tour is, you can pay a visit.
Sandy Neck Lighthouse is now privately owned and not open to the public. But there are plenty of other lighthouses to visit on your Cape Cod tour!
Summer is the most popular time for a Cape Cod tour! Most travelers choose to visit in July and August.
There are so many amazing places to visit on the Cape during the summer, from beautiful beaches to antique lighthouses to the hustle and bustle of Provincetown. Here are some of the best locations to visit, Marconi Station, Audubon Wildlife Sanctuary, Commercial Street, Nauset Light.
On a Cape Cod tour, you should look for whales between April and October, when the ocean’s water is at its warmest.
Inclusions and Exclusions
App on your phone: A link to download the Action Tour Guide App and Password for your tours.
Easy to use: Stories play automatically by GPS. Hands-free. Get HELP all day: Call, Chat, or Email.
Flexible schedule: Use any day, any time. Valid for multiple visits up to 1 year after purchase.
Interactive audio stories: Experience local history and culture through clear, concise narratives from experienced narrators.
At your own pace: No group. Take breaks for photos, snacks, hikes. Go at your own pace.
Offline use: No cell signal or wifi required. Offline GPS Map & route. Stop-to-stop direction.
Don’t miss a thing: Full itinerary, travel tips, professionally narrated videos, text, and hidden gems.
Transportation, parking fees, food, and drinks.
Entry tickets or reservations to any attractions along the route.
Car Rental: Please arrange a rental car at the closest airport or train station.
