No picture or video can do Yosemite justice, better than the picture you see when you view Yosemite Valley with your own eyes. I cannot believe I have now visited Yosemite National Park three times, and yet I keep finding a pull that brings me back for more. I have visited in the summer and fall, and honestly, I could see a reason to come back for the winter and spring, since Yosemite is constantly changing with the seasons. If you are going, I highly recommend staying for longer than a day and exploring the beauty of Yosemite National Park and the surrounding areas in Mariposa, California, and Mariposa County.

Not only will your jaw drop from the waterfalls at Yosemite, but you will also find a unique landscape carved by glaciers, rivers, and wildlife roaming the Yosemite Valley from the meadows to the backcountry.

*Disclosure: This post contains affiliate links. This means that if you make a purchase or booking, I may receive a small commission at no additional cost to you.Travels of Sarah Fay is a participant in the Amazon Services LLC Associates Program, an affiliate advertising program designaed to provide a means for us to earn fees by linking to amazon.com and affiliated sites at no cost to you. All views are my own and honest opinion of my experiences. This was a part of a sponsored trip to Yosemite Mariposa County.

Table of Contents

Road Tripping Solo To Yosemite Mariposa County

What I loved most about this road trip was how safe I felt and how friendly everyone was, especially when they found out I was traveling solo. There’s something special about meeting locals, other hikers, and fellow solo travelers-it made every hike and drive feel like an adventure. Planning a trip to Yosemite and nearby towns like Mariposa can feel overwhelming, so I put together this 2- and 3-day itinerary, along with my favorite places to eat and things to do, to help make your visit easier. Use this itinerary to kick-start your journey-don’t just dream about Yosemite, experience it for yourself!

Yosemite and Mariposa Itinerary: 3 Days in Yosemite + 1 Night of Glamping

I spent three days exploring Yosemite National Park—from steam trains and sequoia groves to Glacier Point and Curry Village- before retreating for a night of glamping near Yosemite at Wildhaven in Mariposa County. Here’s how to make the most of your own 3-day Yosemite itinerary.

Back at Tenaya Lodge that evening, I treated myself to pizza at the Timberloft before unwinding in the spa—an indulgent way to cap off a day in Southern Yosemite.

This 3-day Yosemite itinerary offered the best of both worlds: two days of waterfalls, hikes, and iconic views within Yosemite National Park, followed by a relaxing night of glamping near Yosemite in Mariposa, California.

If you’re planning a 2-day Yosemite itinerary, this route covers the must-sees like Glacier Point Road, Tunnel View, Curry Village, and the Mist Trail. By adding Mariposa to my trip, I found that I could enjoy not only Yosemite’s natural wonders but also local culture, history, and the comforts of glamping.

Whether you visit Yosemite in summer for rushing waterfalls or in fall for golden valley views, this itinerary makes for the perfect short escape into California’s great outdoors.

Yosemite and Mariposa Itinerary: 2 Days in Yosemite + 1 Night of Glamping

Few destinations stir the imagination quite like Yosemite National Park. With its granite cliffs, waterfalls, and giant sequoias, it’s a place that feels both timeless and humbling. Pair that with the Gold Rush charm of Mariposa, California, and you’ve got the perfect short adventure: two days in Yosemite followed by one night of glamping at Wildhaven Yosemite.

This guide blends my detailed Yosemite 2-day itinerary with tips on things to do in Mariposa, California. I’ve also included spaces where I can add my own stories and impressions to make it more personal for my readers.

Day 1: Southern Yosemite Adventure

Your journey begins just outside Yosemite’s southern entrance, in the quaint town of Fish Camp. I always imagined riding a steam train, and fittingly enough, I was able to ride one of the few remaining in operation in the former logging grounds of the Sierra National Forest. Southern Yosemite is a bit quieter, but no less beautiful than the rest of Yosemite. This was my first time visiting the tremendous Sequoia trees.

Morning: Steam Train Through the Sierra

Yosemite Mountain Sugar Pine Railroad

A whimsical start to the afternoon was the perfect way to start my magical time in Yosemite. The Yosemite Mountain Sugar Pine Railroad is a charming historic narrow-gauge railway nestled just outside Yosemite National Park in Fish Camp, California. Originally built in the early 1900s as part of the Madera Sugar Pine Lumber Company’s logging operations, the line once hauled massive sugar pines out of the Sierra Nevada.

Today, it has been lovingly restored as a tourist attraction, offering visitors a chance to ride aboard authentic Shay steam locomotives—geared engines designed to handle steep grades and sharp mountain curves. The experience goes beyond just a train ride, with scenic journeys through the forest, live narration, and even musical entertainment. Guests can also enjoy the popular Moonlight Special evening rides, which end with a lively campfire sing-along under the stars. With its rich history, beautiful setting, and unique blend of education and fun, the Yosemite Mountain Sugar Pine Railroad is a must-visit for families, history buffs, and train enthusiasts alike.

Tips for Visiting:

Book early in peak season: Summer and fall rides can sell out quickly, so it’s recommended to reserve tickets in advance.
Pair it with a Yosemite visit: Since it’s only minutes from Yosemite’s south entrance, the railroad makes a perfect stop before or after exploring the park.
Budget for tickets: Prices typically range from about $20–$35 per person for daytime rides
Bring a meal or snack: There’s an on-site barbecue and picnic area, making it easy to turn your train ride into a full outing.
Take photos: The combination of steam engines, forest scenery, and golden Sierra sunsets makes for unforgettable memories.
Get Travel Insurance. I used Safetywing for this trip.

This is more than just a ride; it’s a step back in time to Yosemite’s logging days. The rhythmic chug of the engine, the smell of pine, and the sound of the whistle set the stage for adventure. If you have some additional time, you can also pan for gold and learn about California’s Gold Rush era.

The experience was worth it, both informative and magical to ride behind one of the only steam locomotives of its kind in the forest at the gates of Yosemite.

Lunch & Check-In at Tenaya at Yosemite

After learning about the area’s history, it’s time to eat. My hotel made this easy—I grabbed lunch at Tenaya at Yosemite, at Jackalope’s. This four-diamond resort offers not only the convenience of being close to the southern entrance of Yosemite, but it also features amazing food, an indoor/outdoor pool, comfortable rooms, and a spa for relaxation. With cozy mountain decor, it’s the perfect place to recharge before your next Yosemite adventure.

Lunch at Jackalope’s Bar & Grill was the call, and it did not disappoint. The Californian fresh cuisine was refreshing and satisfying. I tried the Ahi Tuna nachos and the steak burger, and I also ate dinner here. I can confirm that the salmon and dessert were excellent.

After checking in and planning the rest of your afternoon, the adventure continues with a trip to Mariposa Grove in Yosemite National Park. Following the comfort food at Tenaya, you’ll want to get outside and hike.

Afternoon: Mariposa Grove of Giant Sequoias

When you visit Yosemite National Park, you realize how vast it is, and honestly, it is impossible to see Yosemite in a day. If you want to hike, explore the history, enjoy the Mariposa Grove, and visit the waterfalls. I had visited 3 times, and this was my first time experiencing it over a few days. I was thrilled to finally make it to spots on my Yosemite Bucket List, and Mariposa Grove was a place I had always wanted to visit.

The Mariposa Grove of Giant Sequoias is the largest grove of sequoias in the park and one of the first protected natural areas in the world. I felt so small walking among these trees; it opened my mind to how insignificant this blip of time is compared to these trees. That no matter what problems I may face in my life today, we can grow from hardships and rise above it to thrive.

What makes Mariposa Grove so special?

When you step into the Mariposa Grove of Giant Sequoias, it feels less like entering a forest and more like walking into a cathedral built by nature. The air is cooler, the light softer, and the ground is carpeted with centuries of fallen needles. Then, rising before you, are the giants—trees so massive and ancient they seem like guardians from another world.

One of the first you’ll meet is the Grizzly Giant, a true elder of the grove. Estimated to be around 2,700 years old, this tree was already towering over the Sierra Nevada long before the Roman Empire rose and fell. Its trunk is 25 feet across, its tallest branches reach nearly 20 stories high, and one single limb is wider than most trees you’ll find in an ordinary forest. Scars from centuries of wildfires mar its bark, but they also tell a story of resilience, proof that this giant has endured everything nature has thrown its way.

A little farther along the trail, you’ll come to another icon: the California Tunnel Tree. In 1895, a passage was carved right through its trunk, allowing horse-drawn carriages—and later, early vehicles to pass through. Today, visitors still walk beneath its arch, marveling at how this living tree has continued to grow and thrive despite its unusual doorway.

Walking through the history of the Conservation movement

These trees are more than natural wonders—they’re witnesses to history. When President Abraham Lincoln signed the Yosemite Grant Act of 1864, protecting Mariposa Grove and Yosemite Valley, it was the first time in the world that land was set aside for preservation and public enjoyment. In many ways, the Grizzly Giant and the California Tunnel Tree stand not only as giants of the forest but as symbols of the birth of the conservation movement itself.

Late Afternoon: Chilnualna Falls and exploring Wawona

After leaving the grove, head toward Chilnualna Falls, one of the few waterfalls in Yosemite that flows year-round. The trail leading there is a bit of a hidden gem compared to Yosemite’s busier hikes. It begins right from the edge of Wawona and climbs steadily through oak woodlands and pine forest, with plenty of places to pause and catch your breath. The full hike is about eight miles round trip and gains over 2,000 feet in elevation, but you don’t have to go all the way to the top to enjoy it. Lower cascades appear just a short distance up the trail, offering peaceful spots to sit by the rushing water without having to tackle the entire climb.

What surprised me most on this first visit was discovering the town of Wawona itself. Nestled quietly in the southern part of the park, Wawona feels worlds away from the bustling Yosemite Valley. It’s a real community, complete with a school, library, stables, and historic homes. The pace here is slower, the crowds thinner, and the atmosphere more relaxed. The historic Wawona Hotel, dating back to the 1870s, stands here ( currently closed). Nearby, you can explore the Pioneer Yosemite History Center, where old wagons, cabins, and even a covered bridge paint a vivid picture of what life was like in Yosemite’s early days.

Between the towering sequoias of Mariposa Grove, the rushing waters of Chilnualna Falls, and the town’s own unique history, it offers a quieter, more intimate Yosemite experience that many visitors overlook.

Since I was running out of daylight, I decided to hike to the base of the waterfall and enjoy a bit of the trail before heading back to the Tenaya Lodge for dinner.

Evening: Dinner & Relaxation at Tenaya Lodge

As soon as I got back, I headed to Jackalopes for dinner before unwinding at the Tenaya lodge pool. I suggest enjoying the night sky while enjoying company by the fire pits here. With day one complete, it’s time to sleep for another big day exploring Yosemite National Park.

Day 2: Glacier Point Road, Tunnel View & Yosemite Valley

An early start is key to any Yosemite trip. After breakfast at Tenaya, I hit the road by 7:30 am and took a packed lunch from the deli at Tenaya, so I wouldn’t miss a moment of exploring Yosemite National Park on a full day.

My first stop was another first for me in Yosemite, and that was a scenic drive on Glacier Point Road, and heading to an epic hike to Taft Point and Glacier Point.

The drive itself is scenic, but the reward at the top is incredible- a sweeping view of Half Dome, Yosemite Valley, and distant waterfalls. Before heading to Glacier Point, I decided to hike to Taft Point, and you may also want to add Sentinel Dome as well. Some of the most beautiful hikes are rewarding for not too much effort.

Taft Pint is a short 2.2-mile round-trip hike and offers jaw-dropping drop-offs in the park, and is a photographer’s dream. If you want, you can add a hike to Sentinel Dome to make a nice 5-mile hike. I recommend downloading maps from Google and trail maps from Alltrails.

Glacier Point Tips:

Tips for Visiting:

Timing: Sunrise and sunset are the most magical times for views and photography, but they can also be the busiest. Arrive early to avoid crowds.
Parking: The Glacier Point parking lot fills quickly during peak season. Arriving early or later in the afternoon can help secure a spot.
Road Access: Glacier Point Road is usually open from late May or early June through October, depending on snow conditions. In winter, it is closed to vehicles.
Hiking Options: From Glacier Point, you can access trails to Taft Point, Sentinel Dome, and the Four-Mile Trail down to Yosemite Valley. These hikes vary in difficulty and distance, making it a good starting point for a full day of exploration.
Amenities: There is limited food and restrooms at the visitor center, so bring water, snacks, and sun protection.
Photography Tips: The late afternoon light casts warm glows on granite cliffs, while early morning offers softer, cooler tones. I would definitely come back here for sunset or sunrise.

Tunnel View

From there, we descended toward Tunnel View, where the park’s most iconic scene unfolded: El Capitan, Bridalveil Fall, and Half Dome in one frame. Enjoy the view from the parking lot or take a short hike to get away from the crowds to enjoy the famous view.

Bridalveil Falls

Next up, head to Bridalveil Falls. This iconic waterfall is accessible via a short and easy trail from the parking lot. While the best time to visit Yosemite for the waterfalls is in the Spring after the snow melts, this one was still beautiful even in the fall. Bridalveil Fall, one of Yosemite’s most iconic waterfalls, cascades 620 feet from a granite cliff, its misty veil dancing in the wind and creating a breathtaking sight year-round.

Hike To Vernal Falls, Emerald Pools, and Nevada Falls

I drove, taking in the views of Yosemite Falls towards Curry village to park for my last hike of the day to Vernal Falls, Emerald Pools, and you could even head all the way to Nevada Falls if you’re feeling ambitious. However I was running tight on time in a race with sunlight.

Vernal Falls: Feeling the Mist

Start at the Happy Isles Trailhead and follow the Mist Trail to Vernal Falls- a 3-mile round-trip hike from the trailhead with about 1,000 feet of elevation gain, usually taking 2-3 hours at a moderate pace. The waterfall’s thunderous roar and cooling mist make every step up the granite switchbacks worth it. Pause at the base to feel the spray on your face and take in the power of this iconic Yosemite cascade.

Emerald Pools: A Serene Pause

From Vernal Falls, a short detour along the trail leads to the Emerald Pools, just beyond the lower falls. This section adds only 0.5-1 mile round-trip and typically 15–30 minutes to your hike. The pools offer a peaceful spot to rest, enjoy the moss-covered rocks, and soak in the sunlight dancing on the water before continuing up the trail. However, if you are like me and want to stop for a late lunch, this is the perfect spot to watch Nevada Falls thunder above you, and enjoy the Emerald Pools.

Nevada Falls: The Rewarding Summit

While I ran out of time to reach Nevada Falls, if you want to continue from the Emerald Pools along the Mist Trail, you can reach Nevada Falls. The total hike to Nevada Falls adds approximately 2.5 miles round-trip from Vernal Falls, with an additional 1,100 feet of elevation gain, resulting in a 2-3 hour increase in time. I’ve heard the climb is extremely steep, but the payoff is incredible. Here you can enjoy a panoramic view of Yosemite Valley and the Merced River, plus the sheer thrill of standing atop one of the park’s tallest waterfalls.

End Your Day with Pizza at Curry Village

Hiking back to Curry Village, I could not believe everything I saw in a day at Yosemite, from sunrise to sunset I covered about 14 miles hiking throughout the park. I deserved a reward, so I headed to Curry Village for a casual dinner of pizza. If you are feeling fancier, you could head to The Mountain Room Lounge for hearty meals. I decided on pizza so I could have a slice and bring the rest home with me. This time, I was staying by the El Portal entrance of Yosemite.

On the way out of Yosemite for the day, I stopped at the El Capitan Meadow at twilight. As darkness fell, I watched the tiny lights flicker on the rock face as climbers settled in for the night on one of the most legendary climbs in the world.

Where to stay close to El Portal entrance? Yosemite View Lodge

That night, I stayed at Yosemite View Lodge in El Portal, just outside the park, making it easy to rest and recharge for the next day. I arrived at night, but I was surprised by a beautiful river view the next morning. The rooms here are quite spacious and have everything you need, including a fridge, stove, and microwave, which makes you feel at home on the road. The Yosemite View Lodge also has a restaurant, grocery store, game room, and pool. Although I didn’t have a lot of time to enjoy the amenities, I can say I felt comfortable here, and it was a short drive to the entrance of Yosemite National Park. This was perfect for me, as I was waking up the next morning to grab breakfast at the historic Ahwahnee Hotel and do a bit more exploring in Yosemite.

Day 3: Yosemite Village & Glamping in Mariposa

Breakfast at The Ahwahnee Hotel and exploring Yosemite Valley

For my final morning in Yosemite, I treated myself to breakfast at the Ahwahnee Hotel, one of the park’s most iconic and historic landmarks. The elegant dining room, with its soaring ceilings and stunning views of the surrounding granite cliffs, made for a serene start to the day—a perfect pause after several days of hiking and exploring.

After breakfast, I wandered into Yosemite Village, immersing myself in the park’s rich history. I stopped at the Ansel Adams Gallery, admiring the black-and-white images that capture Yosemite’s timeless beauty, and explored the Visitor Center for a deeper understanding of the park’s natural wonders. A visit to the Indian Village offered a poignant glimpse into the lives of the people who called this land home long before Yosemite became a national park.

A gentle stroll through Cook’s Meadow gave me one last breathtaking view of Half Dome, its iconic shape framed perfectly by wildflowers and the soft morning light.

Explore Mariposa, California

After a beautiful morning in Yosemite, it was time to hit the road and explore the meandering road on the Golden Highway from Yosemite to Mariposa, California. The scenic foothill views, leading to the historic gold rush towns, make for a peaceful, beautiful drive. I realized how much I had been missing on the doorstep of Yosemite.

Arriving in Mariposa hungry, I decided to have some BBQ at the Smokin’ Oak BBQ. I had the best mac and cheese, as well as the brisket, here. The comfort food was exactly what I needed. After that, I decided to explore downtown Mariposa, which features a charming main street lined with shops and restaurants.

I wandered through Made in Mariposa, a collection of local artisans’ work, and discovered fair-trade treasures at Anahata. Downtown shops close around 5 p.m., so I made sure to explore while the streets were still alive with locals and visitors alike.

Where to stay in Mariposa, California? Wildhaven Glamping

Staying at Wildhaven Yosemite was a unique escape into the natural world. I stayed in a cozy, tiny cabin perched to overlook a meadow where horses grazed peacefully, their presence adding a serene, almost storybook charm to the setting. In the late afternoon, I took a short hike along the property trails to catch the sunset, the sky ablaze with colors that reflected off the surrounding hills. After sunset, I decided to head back into town for dinner. Dining at 1850 Restaurant & Brewery in Mariposa is a treat, with hearty American cuisine, craft beers, and a welcoming, relaxed vibe it is perfect after a day of exploring. It did not disappoint; the salmon I had here was delicious.

Finally, the stars emerged in dazzling clarity, unhindered by city lights, and I joined fellow guests around a community fire pit, swapping stories and soaking in the warmth. It was the perfect blend of adventure, relaxation, and connection to the natural world- a rustic yet luxurious retreat that made the final night of my Yosemite journey unforgettable.

Day 4: Enjoying the beauty of Mariposa, and Goodbye for now

Day 4 began with a hearty and delicious breakfast at Happy Goat Farm to Table in Mariposa. The farm-to-fork menu was a perfect start to the day, with fresh, locally sourced ingredients that made every bite feel like a taste of the region itself. The cozy atmosphere and friendly service set the tone for an exciting day ahead.

By 10 a.m., I was exploring the Yosemite Climbing Museum, a hidden gem celebrating the rich history of climbing in the park. From vintage gear to inspiring stories of legendary climbers, the museum brought Yosemite’s adventurous spirit to life. Walking among the exhibits, it was easy to imagine the early climbers tackling El Capitan and Half Dome, pushing themselves and their equipment to the limits.

Mariposa Coffee Company

Next, I visited the Mariposa Coffee Company for a hands-on demonstration with Jerry, the passionate owner. Watching the coffee roasting and learning about the nuances of brewing was fascinating, and the rich aroma of freshly roasted beans filled the air. Sampling a cup of Jerry’s excellent coffee. He prepared a delicious iced coffee and afterward made the experience more memorable, allowing me to be a part of the roasting process and learning all about Frankenstein (the name he gave to his special roasting machine). He truly cares about the coffee and the guests who walk through. It made it even more special, taking home some of his freshly roasted coffee, as he handwrites a message to enjoy with every package!

Sierra Cider Farm and Cidery

Lunch took me to Sierra Cider Farm & Cidery, where the afternoon unfolded with sweet, crisp apple adventures. I had the most delicious apple frosty while waiting for pizza from Yosemite Pizza. The perfect collaboration of pizza on an apple farm. This is a great way to spend a fall afternoon in the Mariposa area. I enjoyed picking apples, seeing the animals on the property, and enjoying some freshly made apple juice to top off a sweet afternoon.

The relaxed farm atmosphere, complete with playful animals and scenic views, made it easy to linger and enjoy the simple pleasures of a sunny afternoon in Mariposa.

By the end of my time in Mariposa and Yosemite, my heart felt like I was leaving a part of it here. There is so much to explore and the people have been so welcoming it has always been a reason I came back and probably always will.

This is not goodbye, but see you again, Yosemite, Mariposa County.

My days in Yosemite and the surrounding Sierra foothills left me with more than just breathtaking views-they offered a lesson in slowing down and soaking in the moment. From the towering sequoias of Mariposa Grove to the quiet charm of Mariposa town, I was reminded that nature has a way of teaching patience, resilience, and perspective. The connection to the land, the stories of the people who have called it home, and the simple joys of farm-to-table meals and star-filled skies made this trip unforgettable. I know I’ll be returning, not just to chase the next adventure, but to reconnect with this sense of wonder, peace, and inspiration that only a place like Yosemite can provide.

3 Days in Yosemite Itinerary and Exploring The Best of Mariposa, California