Yosemite National Park Day Trip from San Francisco. Visit Yosemite National Park on this day trip from San Francisco. Upon arrival in the state's most famous national park have lunch (at own expense) or skip straight to the park to begin exploring. Follow your guide on a walking tour of the area or discover the park's charms on your own during your 4-hour stay. Pickup from select San Francisco hotels is included. Book with us and Save 10%! Yosemite National Park Day Trip from San Francisco.