We didn't have a true home marina when we lived aboard full-time, but if we named the one we spent the most time at, on and off our boat, it would be St. Augustine, Florida. A wonderful Winter destination in Florida, or a staging area for the Bahamas, St. Augustine is more than just a place to drop the hook; there is culture, history, and amazing food all within walking distance of shore. Here's our guide to our top tips and spots in our 15 years of visiting St. Augustine.

We can't start a boater's guide without discussing a bit about where St. Augustine lies, and some important pieces of information when visiting by boat. St. Augustine is located here in Northeast Florida, right on the Intracoastal Waterway (ICW), which runs from Florida to New Jersey. The St. Augustine Inlet is just outside of the city, so make sure you consider the current and tides when anchoring or docking. There aren't many good anchorages around, within dinghy distance of St. Augustine, so most boaters will stay at the St. Augustine Municipal Marina's docks or extensive mooring field. While there are a couple of other places to stay, this puts you right downtown with incredible views of St. Augustine from your boat.

Once you're in St. Augustine, you can be easily overwhelmed by the various activities available - so, here are our top three attractions that you have to do when visiting St. Augustine. Starting with one that's only available in the Winter - the famous Night of Lights. From late November through the end of January, the historic streets of St. Augustine are transformed into a dazzling wonderland, illuminated by more than 3 million sparkling holiday lights. For daytime adventures, we recommend signing up for the hop-on-hop-off trolley - they'll take you throughout town so you can see your favorite spots without a vehicle. Lastly, make sure you tour the Castillo de San Marcos National Monument, where you'll learn about the history of the area, from the Native Americans, through the Spanish conquistadors, until the present day. If you prefer to play it by ear, as we often do, St. Augustine is extremely walkable. Feel free to choose a direction and be surprised at what you find.

You can't visit St. Augustine without enjoying some of the best food you'll find in a coastal town of this size. There are honestly so many great choices, so we'll narrow this down to a top breakfast, lunch, and dinner spot.

• For breakfast, we love to get the Corned Beef Hash or Breakfast Burrito with a fresh cup of hot coffee at The Blue Hen Cafe.
• For lunch, you can not beat Mojo's Tacos. While they have somewhat limited hours, their tacos are "double decker style" (soft shell and hard shell stuck together), and their arepas are excellent.
• Finally, for a nice night out, go to the Ice Plant, located above the St. Augustine Distillery. Their rotating menu and specialty cocktails are perfect for a date night off the boat.

St. Augustine is one of our favorite places to visit, and we've been coming back year after year for 15 years. There's much more to see than just this article, so if you're planning a trip to St. Augustine, feel free to read more about individual activities and trips below.

• Cruising from New Smyrna Beach, picking up a mooring in St. Augustine here.
• Our perfect weekend itinerary here.
• 7 fun date night ideas in St. Augustine here.
• Our 19 must-try restaurants guide here.
• Our 15 favorite free activities in St. Augustine here.
• Finally, our ultimate guide to St. Augustine here.

If you have any other questions about your next trip to St. Augustine, leave a comment below. We're happy to help you plan your trip to this incredible destination.