Yes, you have to cross the Golden Gate Bridge to get to this children's museum, but we promise it's worth the trip. 

Located on the bay near Sausalito, the Bay Area Discovery Museum boasts a plethora of hands-on, indoor/outdoor experiences for kids aged 6 months to 10 years. 

Don't miss the Lookout Cove, a 2.5-acre outdoor area with tide pools, gravel pits, fishing boats, shipwrecks, caves, and spider web installations.

If you're looking for fun in Bernal Heights, head to this grassy hill park. An easy 30-minute walk up a dirt path will earn you 360-degree views of the bay, downtown, the Golden Gate Bridge, the East Bay, and San Bruno mountain. 

There's also a rope swing at the top of the hill and a dog park for Fido. Pro tip: after the park, stroll down Cortland Avenue for fun bakeries and kid-friendly restaurants like Bernal Star.

As one of the largest museums of natural history in the world, the California Academy of Sciences has something for everyone and is well-located in Golden Gate Park. 

Don't miss a fantastic aquarium, planetarium, and a domed, four-story rainforest that boasts animals in three distinct ecosystems.

The Children's Creativity Museum is a hands-on space that allows children to imagine and create in a multimedia environment. 

Kids can design their own clay motion animations, pretend to be a rock star in the music studio, or invent a new machine. There's something for all ages here.

Since 1953, City Lights Bookstore has been an icon in the literary world of San Francisco, the first all-paperback bookstore in the U.S. and the birthplace of the Beat movement. 

But there's also a great children's book section, especially if you're inclined to introduce your children to books that specialize in social justice and activism.

This 210-foot white concrete tower—built in 1933—nestled into the top of Pioneer Park might be on a lot of tourist must-do lists, but trust us when we say your kids will be happy here too. 

The tower is accessible by elevator and you'll get amazing 360-degree views of the city. Pro tip: check out the murals inside the tower's base, which depict California life during the Depression.

This relatively new playground in between the Castro and Mission has a loyal following of families who come for the 38-foot mega-slide, plethora of swings, bouldering rocks, and wooden boats. 

Throw in the first-rate city views and its often sunny weather, and this playground is a sure bet.

Head to the Embaracdero and experience this ode to all things science. 

Hands-on exhibits allow kids to step inside a tornado, count the rings on a 300-year-old tree, and even build their own electrical circuits. Adults will love this place too.

If you're looking for more sandy walks on the beach, check out Fort Funston, a former harbor defense station from the early 1900s that also boasts sand dunes. 

Steep cliffs meet the shoreline for picture-perfect scenery, and dogs and older kids alike will have fun chasing the waves (warning: the undertow is dangerous, however, so we don't recommend swimming). 

Fort Funston is also a great place to watch hang-gliders take off from the cliffs above. The walk down to the beach is steep, so this one is better for the older kiddos.

This heavily used spot got a reboot in 2003 to transform it into a "Parisian-style" playground that aims to transport locals to the Luxembourg Gardens. 

Children will love the interactive wet sand play sculpture and climbing equipment, while adults can relax to views of the Golden Gate Bridge and Mount Tamalpais.

Called the Koret Children's Quarter, the children's playground at Golden Gate Park is a magical space with concrete slides, climbing walls, a playground, and plenty of grass for picnics. 

But the park's most unique feature is a gorgeous carousel—originally built in 1914—with 62 animal figures to ride.

This fairly flat hike (with just one big hill that has stairs) is a good one for older kids discovering their hiking legs. 

The hike starts and finishes at the ruins of the Sutro Baths—a former public bath house that burned to the ground in 1966—and there's also a visitor's center. The out-and-back hike is a total of 2.9 miles, but you can always turn around any time.

On the city's westernmost side, adjacent to Golden Gate Park, Ocean Beach is a getaway with 3.5 miles of white beaches next to two giant windmills that are sure to fascinate the littles. 

The water is cold and the currents can be hazardous, but Ocean Beach is a top pick for walks and beach time picnics.

Let us count the ways we love the Presidio. First: easy, kid-friendly hikes abound. Second: three sculptures made from felled trees and created by British artist Andy Goldsworthy show art in a natural environment. 

Third: children will love exploring the tree groves and hidden forts. Start your visit to this National Park from the Visitor's Center at the Main Post, and don't miss Goldsworthy's Spire and Wood Line sculptures.

Expected to reopen in fall 2017, the Randall Museum offers hands-on science, live animal, and art experiences for school-aged kiddos. 

The remodel will feature a brand new STEM lab, an enlarged ceramics studio, and a sculptural tree that will house raptors in its branches. Pro tip: check out the old playground at the foot of the hill for amazing views.

There are many reasons to avoid the tourist-afflicted Fisherman's Wharf, but one spot we can recommend is the San Francisco National Maritime Park. 

Kids can see the historic ships at Hyde Street Pier, where a three-masted cargo ship and a paddle steamboat are docked. There's also a sandy beach and many kids also like to watch the boats in action from Aquatic Park.

This mini-park near the Castro—built in 1973—boasts a community garden and loads of native plants. 

But the main attraction is two steep concrete slides that are a thrill for older kids and adults alike. Bring a piece of cardboard and wear sturdy pants.

Set on the northern side of Golden Gate Park, Spreckels Lake is home to the San Francisco Model Yacht Club. 

Head to the lake and watch enthusiasts sailing their remote controlled model yachts or bring a picnic and enjoy the sunset beside the beauty of the Monterey Cypress trees.

The Butterfly Joint is a woodworking and design studiofor children 2 and up. Kids get to clock in with punch cards, put on work aprons, and learn traditional joinery techniques to create gorgeous pieces of art.

Older kids will love this wacky indoor miniature golf course, featuring 14 holes of putt putt with many designed to look like iconic San Francisco locations. 

Bonus for parents: there's a full-service restaurant and bar upstairs, so adults can enjoy a beverage while the family plays.

Located below the rugged cliffs on the Presidio’s western shoreline, Baker Beach is a good choice for picnics (there are tables, restrooms, and grills at the east end of the parking lot) and sand castles. 

Note: The northernmost end of Baker Beach is frequented by clothing-optional sunbathers.