Weekend Yosemite National Park Hiking Tour

From $995 See Rates

CaliforniaYosemite National Park
Tour Length
3 days, 2 nights
Guide Type

Spend a weekend exploring one of the oldest, largest, and most loved national parks in the United States on this Yosemite National Park Hiking Tour. In an action-packed three days, you will meander through picturesque meadows, hike beside towering granite monoliths, get up close and personal with ancient giant sequoia trees, and take in majestic views unlike anything else on earth while hiking iconic Yosemite trails.

This guided Yosemite tour with AOA gives you the opportunity to truly experience and enjoy the best of the park with a professional guide to lead you, share their love and knowledge of the area, and handle all the logistics on this Yosemite camping trip.

What's Included

Tour Price Includes

  • 2 nights camping at Upper Pines Campground (or a similar campground in Yosemite National Park)
  • Basecamp gear (kitchen equipment, hand washing station, dish washing station, solar shower, camp chairs, etc.)
  • Meals starting on lunch Day 1 through lunch Day 3
  • Water and snacks
  • Professional Wilderness First Responder certified guide

Not Included ​​​​​​​

  • Personal insurance and expenses
  • Transportation prior to meet up in Yosemite on Day 1 and post drop off in Yosemite on Day 3
  • Park entry
  • Pre- or post-trip lodging
  • Breakfast Day 1, dinner Day 3
  • Tent (available to rent from AOA)*
  • Sleeping bag (available to rent from AOA)*
  • Sleeping pad (available to rent from AOA)*
  • Day hiking pack (available to rent from AOA)*
  • Gratuities to AOA Guides

Upgrades + Additions

Gear Rental

  • 4-Person Basecamp Tent ($45 per tent)
  • Inflatable sleeping pad ($25 per pad, sleeping pads add insulation and are required on AOA trips)
  • Sleeping bag and linen set rental ($25 per)
  • 30 to 40 liter daypack ($15 per pack)
  • Trekking poles (complimentary upon request)

Other Additions

  • Purchase: 3-liter Camelbak reservoir/bladder ($35 each)
Optional upgrades, additions, and rentals subject to tax (8.05%).


2019 Rates

  • TOUR PRICE $ 995 pp 995 pp

*Subject to change and will be based on actual costs at time of departure

*Subject to change and will be based on actual costs at time of departure

Do you have five minutes to save $25? Learn about our 25for5 promotion on our Promos & Discounts page! (Seasonal discounts may apply)



Select Month

August 23-August 25
August 30-September 1
Sold Out!
September 6-September 8
September 13-September 15
September 20-September 22
September 27-September 29
Smiling hikers pose in front of Yosemite waterfall

10:00am – You’ll meet your guide in Half Dome Village parking lot. After getting acquainted, we’ll head out on one of the best hikes in Yosemite, the famous Mist Trail. This signature hike is the perfect introduction to Yosemite leading to its main attractions, Vernal Fall and Nevada Falls. Known as the crown jewels of Yosemite, they fall a combined total of more than 900 feet! The two waterfalls are beyond impressive but this trail offers so much more! While hiking along The Merced River, we’ll take in incredible views of Upper Yosemite Falls, The Yosemite Valley, Liberty Cap, Half Dome, and more! Day’s end will find us settling in at our campground right in the heart of Yosemite Valley. Here we’ll gain a better understanding of what inspired Theodore Roosevelt’s famous words after camping in Yosemite – “It was like lying in a great solemn cathedral, far vaster and more beautiful than any built by man.”


6.5-9 miles


Breakfast on your own, lunch and dinner included


Campsite in Yosemite National Park

Smiling hikers pose in front of Yosemite waterfall
Sunrise at Tunnel view Yosemite National Park

Today, after a hearty breakfast, we’re going to earn our panoramic views by hiking the challenging Four Mile Trail. This trail climbs straight up from the valley floor and provides incredible postcard-worthy views of Yosemite Valley, Yosemite Falls, El Capitan, and Half Dome. Eventually we reach Glacier Point where we’ll stand where John Muir and Theodore Roosevelt once stood. Some people visit Yosemite just to come to Glacier Point. We’ll take a breather here and enjoy the views before retracing our steps back to our campground for one more night of Yosemite camping.


9-10 miles


All meals included


Campground in Yosemite National Park

Sunrise at Tunnel view Yosemite National Park
Hiker looks up at Yosemite Falls in Yosemite National park

After we fuel up with a guide prepared breakfast and break camp, we’ll head to one of Yosemite’s oldest historic trails. The Yosemite Falls hike rises 2,425 feet above the valley floor to the top of one of North America’s tallest waterfalls. The steep, thrilling trail offers spectacular views of Yosemite Valley, Half Dome, Sentinel Rock, Upper Yosemite Falls, and more! Our turnaround point depends on timing (and how our muscles have recovered from yesterday’s adventure). Regardless of when we return to the valley floor, the challenge and incredible views of Yosemite National Park make it the perfect way to end our journey together. We’ll return to Half Dome Village between 2-4pm where we’ll make plans for our next adventure together before parting ways.


3-7 miles


Breakfast and lunch included, dinner on your own


On your own

Hiker looks up at Yosemite Falls in Yosemite National park

Nitty Gritty

AOA’s adventures might challenge you, but we don’t want them to surprise you, these Nitty Gritty details can help you decide if this the right trip for you.

Comforts of Home

Cell Service & Electricity: While camping in Yosemite National park, cell service can be limited. You should expect it to be unreliable during this trip. There will be limited access to electrical outlets. Bring a portable phone charger so you’re not reliant on this power source.

Showers: There are hot showers available on this trip, but they require that a walk of about 15 minutes from the campground.

Yosemite Crowds

Yosemite is a magical destination, and you’re not the only one who thinks so. On weekends from spring to fall, the park can be very busy and it’s likely we will experience some traffic while driving to/from trailheads in the valley.

Age & Group Size

Minimum Age: 10
Max Group Size: 12

Bear Safety

Black bears in Yosemite have become accustomed to visitors and they often wander Yosemite Valley in search of food. Because of this, all park visitors must take mandatory precautions to lock up all “smellable” items from hand lotion to snacks in bear-proof cans. This keeps the bears and the visitors safe. It can be a challenge, but our guides will help you make sure your campsite is bearproof.

Trip Ratings

Fitness 3.5 | Comfort 3 | Solitude 2 | Guest Participation 2