This was my first time as a San Francisco tour guide! I think we packed in the very best of San Francisco in this 1-day excursion, using a combination of mass transit and our own vehicle. We drove into the city and parked at the 5th & Mission garage for the first leg (4 hrs = $12). If using BART, get off at Powell station.
Head to the MUNI booth in front of the Gap & Forever 21 clothing stores (cut through the mall across the garage if possible). A MUNI 1-day passport is $11 and well worth it, considering a one-time trolley ride is $5.
We haggled in Chinatown, zig-zagged the infamous Lombard Street, and enjoyed the scenery along the Embarcadero (Fisherman's Wharf, Pier 39, Ferry Building).
For the second leg, we drove across the iconic Golden Gate Bridge and stopped by Golden Gate Park on the way home, too. Highly recommend sightseeing on a weekday to avoid the crowds. Couldn't have asked for a more perfect day to take in San Francisco!