This is more of a trip than a destination. We launch at Halifax Harbor Marina, on Beach street in Daytona. From there we head north on the ICW, being careful to stay inside the channel.
Along the way you get to see some very nice houses, and occasionally a dolphin or two. When you leave the marina and head north you have to go slow past the first couple bridges, then you can run on plane except when you come to a bridge. It is clearly marked when you need to slow down. It usually takes about two to two and a half hours to get there from Daytona, but if you are not in a rush you can stop in Palm Coast. We have only stopped at the Marina for a "Potty" break, but the people there are nice and told us of a German village down the road.
We always stay at Saint Augustine Municipal Marina. StAugustine.com Reservations are a must, we got there one weekend and they were full. Lucky for us the dock master had his boat hauled out for repairs and let us have his slip. When you check in at the Marina office be sure to get your "key" for the bathrooms. This Marina has public bathrooms and "boater" bathrooms. Believe me you want to use the boater bathrooms. They are very clean. A search of the internet will find you plenty of motel rooms within walking distance. We have been staying on our boat since we got a cuddy cabin, so I'm not up to date on which places are the better deal.
One of the biggest thrills some friends of ours got when we took them was ordering pizza and having it delivered right to the boat. We go to A1A ale house for lunch upon arrival, then it's off to see the city. There are plenty of places to find food and drinks all within walking distance,so go explore.
You never know who or what you may see when at the marina, we passed the "High Banks" which we found out later belonged to the France family of NASCAR fame. We have seen boats from all over the world, and of every size imaginable. We saw a poker run come in that was being filmed by a helicopter. We saw a kingfish tournament weigh in that had some of the wildest looking boats we have ever seen.
On top of all the things we've seen at the marina, you have the oldest city in the nation to explore, then a boat ride home the next day. Be safe, have fun and I hope to see ya out there.