Yosemite Camping Tour - "Yosemite Escape" 3 Day Camping Adventure

Why We Love This Tour

“The three day camping tour is the best way to explore all of Yosemite. The high sierras are as beautiful as the waterfalls of the valley. Don’t miss a great opportunity to visit the expansive landscape of the high sierras. Camping is the best way to visit the park.”

– Vince Harrington
Fleet Manager

Tour Highlights

  • Strap up your hiking boots and explore Yosemite Valley
  • Witness towering Yosemite Falls
  • Learn about the brave climbers of El Capitan
  • Witness the majestic Giant Sequoia Trees
  • Practice your photography at Tunnel View
  • Enjoy campfire chats and s’mores with your campmates
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Book as a Private Tour

We Offer Private Charters

Turn any tour into a customized, private tour for your group or family.

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Price: $629

Please note, rates change annually. Rates for dates beyond this season may have changed. Please see booking page for exact price. Child rates available for those under 12.

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Yosemite Camping Tour

Need more than a day to visit the classic sights and sounds of Yosemite’s wilderness? You’ve come to the right place!

On this comprehensive three-day camping tour, you’ll get more than a glimpse of the dramatic, glacier-formed mountains, hike through fern-laden trails, and look out from a cliff’s edge as you breathe in the fresh, earthy Yosemite air. As you take in the landscape, our experienced guides will shepard you through the unique park history, stop to explore the breathtaking vistas, and expertly point out the wildlife. You may even see the tiny figures of climbers on their trek up the cliffside of Half Dome!

New to camping? No problem! We’ll supply all the necessary camping gear. Nervous about the hikes? Our guides will pick the hikes that suit your group.

On this three-day excursion, there’s plenty of time to make your way through the park, hopping from one trailhead to the next. Experience the awe-inspiring sights, where you’ll hike, swim, and meander through many of the parks most famous outlooks and tranquil spaces.

Weather permitting. Some activities are not accessible in extreme weather or due to road closures. Every attempt will be made to find comparable activities if these options are not available during your trip. This tour runs daily, May-October (see Yosemite Stay & Play Winter Hotel Tour for off-season overnights in Yosemite)
** Yosemite Scheduling Tip: This is one of our top-selling tours, and space on this trip fills up fast! We recommend that you make your reservation far in advance of your intended travel date in order to secure your space. If your intended date is NOT available, we will try our best to help find something for you. If you’re looking for more options in Yosemite, take a look at our Yosemite 2-Day Hotel Tour or our 4-Day Yosemite, Mammoth Lakes, and Tahoe Sierras Tour**



DAY 1 – Giant Sequoias

As we embark on our journey, we’ll pass by some exceptional San Francisco sights. Catch views of the Golden Gate Bridge, Fisherman’s Wharf, Alcatraz Island and the incomparable San Francisco Skyline as we head east on the Bay Bridge. You’ll taste a piece of California’s rich agricultural hub as we pass through a slice of the Central Valley famous for specialty fruits and nuts such as almonds, walnuts, cherries, and strawberries. Once we reach the park, prepare to dine among giants as we arrive at a grove of Giant Sequoia trees. You’ll take in the meditative views as next to trees that measure up to 300 feet tall, 30 feet wide, and older than one thousand years.

Are your cameras ready? The shuttle will climb the winding route 4,500 feet above sea level to the gorgeous vista at Tunnel View, which overlooks the expanse of Yosemite Valley and offers spectacular views looking east towards El Capitan, Half Dome, and Bridalveil Falls. Depending on timing, the group may stop off at Yosemite Village or take a quick excursion down a beginner hike before settling into camp.

Once at camp, your guide will hand out camping gear and show you the local amenities. You’ll make the ultimate s’mores as your group shares drinks and stories around the campfire, but don’t forget to get some sleep for a full-day of exploring the park!

DAY 2 – Yosemite High Country

The early bird gets the worm when it comes to exploring the park! We’ll whip together a quick breakfast, slap together some sandwiches for lunch, and head off in the van to start our full day in Yosemite High Country.

Are you ready for clear, sparkling lakes? Crisp, mountain air? Prepare to spend a full day exploring Yosemite’s picturesque lakes, hiking to mountain summits that overlook lush greenery, and passing through serene meadows. Your guide will make sure the group takes full advantage of the park, while making sure everyone is comfortable, by customizing the hikes around the groups’ needs.

If your group is not too wiped out by the day’s adventures, now is the time to swap stories and share drinks around the campfire with your new friends. Don’t forget to rest up before your last day at Yosemite!

DAY 3 – Yosemite Valley

On the last morning, we’ll make a quick breakfast, prepare another brown bag lunch, make sure all the camping gear is put away before heading into Yosemite Valley.

Did you pass up a hike on the way to a vista? Have you been pining after a particular swimming spot? Are you ready to stretch your legs and have a new self-guided adventure? Day three is the perfect time to choose your own adventure in Yosemite Valley. You can hike to a waterfall, rent a bicycle to cruise around the valley floor, check out the visitor’s center, museum, and Ansel Adams Gallery, or relax in the shade by the emerald green Merced River. Regroup for one final group activity, a visit to the El Capitan Meadow to watch the daredevil rock climbers conquering the largest granite monolith in North America.

After a full day of exploring, we’ll make our way back to the San Francisco Hilton, arriving in the city around 8:30pm – 9pm.

**Sample Itineraries: Please note that due to rapidly-changing conditions beyond our control (weather, crowds, traffic) and the small size of our vehicles/groups, we allow our guides the flexibility to tailor your itinerary to best suit the needs of the group. While we guarantee that we’ll do our best to provide you with all of the highlights within this itinerary (conditions permitting), we do not guarantee them in this specific order.

About Our Campsite

Our three day camping tour is designed to be comfortable for all levels of camping experience, from first time campers to veteran outdoorspeople. We stay at a campsite with modern facilities and we provide all the equipment necessary to ensure you are well taken care of and have a great time.

This tour offers the full camping experience where group participation is part of the fun! Camp set up is a snap with our easy set-up tents, sleeping pads, and camp stove. The cookout dinner is a group event where everyone helps out, campers take turns cleaning up after meals, and we swap stories by the camp fire.

Campsite amenities include:

  • On-site showers with hot water (don’t forget your towel and toiletries)
  • Flush toilets
  • Tents and sleeping pads
  • Propane stove and cookware
  • Fire pit for warmth/marshmallow roasting
  • Use of indoor/outdoor pools and hot tub at lodge nearby
  • Nearby store for incidentals
  • Merced River across the road from camp (may swim in river)
  • Sleeping bags available to rent (additional fee)

Book a Private Tour!

Book our Yosemite Escape as a Private Camping Tour

We understand how important quality time with your friends and family is. We also understand the hesitation some customers may have in sharing a vehicle with people they don’t know. While we love the ease of travel & new friendships that shared tours provide, we have adapted to bring our customers more options when it comes to booking a tour.

This tour is now available to book as a private excursion for up to 10 guests.  You’ll receive the same itinerary and inclusions that our typical tour would provide, plus personal one-on-one attention from your guide and the ability to choose exactly who you’ll bring with you.

Feeling like making some changes or additions to the itinerary? Contact us and we can create a quote for any custom experience you’d like to partake in anywhere in the 50 states.

Reserve your Yosemite Escape Camping Tour as a private excursion now!

Our rates are based on group size. After clicking below and choosing an available date, elect how many travelers will be in your group.

Private tour for 1-13 guests: $4,495 total


Why Not Visit Alcatraz Too?


Review your trip

Highly recommended!

“Wow! What an amazing experience and a very well coordinated tour thanks to our fabulous guide Matt. Not only were the sights amazing; the package inclusions and accommodation were spot on and the service offered was exceptional. We highly recommend anyone visiting the west coast USA to explore Yosemite and to use Incredible Adventures. Thank you from Dave & Mel (Australia).”

– David B
Traveled May 2019
Yosemite Escape Camping Tour

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Loved this tour!

“We had a great time camping in the Valley. The tour was very well organized.Our Guide Joe was just excellent. A veritable storehouse of information on Valley and other tit bits that she gave on the ride were so interesting. Her advise on the treks to be taken were very helpful. She took pains to see that we had our breakfast lunch and dinner in time and that we reached at places in time. All 12 of us simply love her. 5 stars for her from me.”


Traveled June 2019
Yosemite Escape Camping Tour

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Forever memories.

“Mikayla!!!! You are AMAZING!! We could not have asked for more! Each day was filled with sites to see and amazing hikes! Our group was amazing and fun to be with! We went to bed well fed, thoroughly exhausted, but most importantly feeling fulfilled and grateful. Forever memories were made on this trip ❤”

– Heather M
Traveled August 2019
Yosemite Escape Camping Tour

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Amazing tour!

“Amazing tour, saw and did so much. Definitely better to do a group tour than drive around yourself.
Nicole our guide was brilliant so informative and knowledgeable, organised and fun. No problem recommending these guys!”

– Angela C.
Traveled August 2019
Yosemite Escape Camping Tour

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Exceeded my expectations!

This trip exceeded my expectations! Our guide, Sarah, was friendly, very generous with her time, and told us a whole load of interesting info about the history of Yosemite which I would never have found out if I’d been doing the trip on my own. We went to a few different places around Yosemite so got a flavour of how big and diverse it was. We had a really fun group, ranging from a ten-year-old to a very fit elderly couple, and yet it worked for everyone, which is really impressive. Saw amazing views, tried s’mores for the first time, enjoyed learning something new from everyone in the group, enjoyed the camping. These 3 days were some of the best of my whole trip! Thank you to everyone who I met there.

– Anna M
Traveled September 2017
Yosemite Escape 3-Day Tour

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