Majestic granite cliffs. Ancient sequoias. The quiet hush of pine forests and the roar of cascading waterfalls. Yosemite National Park inspires awe at every turn – with more trails, viewpoints, and natural wonders than you could ever fit into a single trip. But with three days in Yosemite, you’ll have enough time to fall in love with the park, hit the most iconic sights, and immerse yourself in its natural wonders.
Whether you’re road tripping from San Francisco or treating yourself to a long weekend in nature, this 72-hour Yosemite itinerary blends jaw-dropping views, soul-stirring hikes, refreshing wild swims, and a luxury stay under the stars at Under Canvas Yosemite – located just 10 minutes from the park’s Big Oak Flat entrance. It’s where comfort meets adventure in one of America’s most unforgettable landscapes.
When is the Best Time to Visit Yosemite?
Yosemite is a year-round favorite. Summer brings long, warm days, access to every corner of the park, and peak visitation. Spring is when the waterfalls roar with snowmelt and wildflowers blanket the valley floor. Fall brings golden meadows, autumn colors, and crisp hiking weather. And winter turns the landscape into a quiet winter wonderland for snowshoeing and skiing.
This itinerary works best from spring through fall, when roads are clear, trails are open, and wild swimming becomes a sweet reward on warm days.
Day One: Yosemite Valley
Morning:
Kick off your Yosemite adventure with a scenic drive straight into the heart of the park: Yosemite Valley. Your first stop is Tunnel View – one of the most famous viewpoints in the national park system. This spot offers a postcard-perfect introduction: El Capitan stands tall to your left, Bridalveil Fall cascades to your right, and Half Dome rises proudly in the background. It’s often a quick photo stop, but one that defines the whole trip.
Continue into the Yosemite Valley and enjoy a short, paved walk to Lower Yosemite Fall, the final 320-foot drop of North America’s tallest waterfall: Yosemite Falls. The one-mile loop is accessible and family-friendly, offering beautiful vantage points to witness the massive three-part waterfall in action.
Afternoon:
Just steps from Lower Yosemite Fall, you’ll find Base Camp Eatery at Yosemite Valley Lodge – a great spot for fast-casual lunch. You can refuel with grain bowls, burgers, pizzas, or sandwiches via counter service while staying close to Yosemite’s main attractions.
After lunch, choose your adventure. Wander to El Capitan Meadow to try and spot climbers scaling the colossal granite wall. Or head to Mirror Lake for views of Half Dome reflecting on the water – and, if the season is right, enjoy a refreshing wild swim.
Evening:
After a full day of discovery, return to Under Canvas Yosemite and settle into your glamping tent – complete with a plush king-sized bed, cozy linens, an ensuite bathroom, private deck, and West Elm furnishings. Grab dinner in the open air, enjoy live music under the stars, and end your night by the campfire with gourmet s’mores and good company.
Day Two: Mariposa Grove & Glacier Point
Morning:
Start your day slowly with guided morning yoga, coffee sips, and a fresh breakfast surrounded by pines and birdsong.
Then head to Mariposa Grove, home to more than 500 mature giant sequoias, and one of the most magical and humbling places in Yosemite. Park at the Mariposa Grove Welcome Plaza and take the seasonal free shuttle, or walk in via the Washburn Trail (2 miles each way). Wander among these giants on the 2-mile Grizzly Giant Loop Trail for close-up views of Yosemite’s oldest trees, including the 3,000-year-old Grizzly Giant and Tunnel Tree.
For an even more unforgettable experience, join a private guided hike and riverside cookout in Mariposa Grove. Walk in the shadows of ancient giant sequoias along a historic stagecoach road while learning about the history and ecology from an expert. After the hike, cool off with a swim and enjoy a relaxing riverside cookout to cap off the adventure.
Afternoon:
Enjoy lunch at the historic Wawona Hotel Dining Room, with its Victorian charm and wraparound porch. Otherwise, bring a picnic from Under Canvas and enjoy it at a shaded picnic area near the grove.
From here, make the drive to Glacier Point, a breathtaking overlook perched high above Yosemite Valley. The view here is truly one of the best – with Half Dome, the High Sierra, Yosemite Falls, and the Merced River winding below. Stay for sunset if you can; watching the light change over the Valley is an experience you’ll remember forever.
Evening:
Back at Under Canvas Yosemite, unwind from another epic day with a locally inspired dinner, live acoustic music, and a nightcap beneath the stars. Whether you’re swapping stories, playing games, or stretching out by the fire, it’s all part of the elevated yet grounded experience that makes Under Canvas so memorable.
Day Three: Mist Trail Hike and Wild Swimming
Morning:
Rise early and make your way back to Yosemite Valley for one of the most rewarding hikes in the park: the Mist Trail to Vernal Fall (3 miles round trip). Begin at the Happy Isles Trailhead and follow the Merced River past towering boulders and through lush oak woodlands. The trail climbs alongside the thunderous curtain of Vernal Fall – prepare to get misted as you approach the steep granite steps leading to the top.
For those with extra time and energy, continue to Nevada Fall for panoramic views, an extra challenge, for a total of 7 miles round-trip.
Afternoon:
Cool off with lunch and a river dip in the Merced. Under Canvas can prepare a take-along picnic so you can enjoy sandwiches or salad by the water at Swinging Bridge, Sentinel Beach, or Devils Elbow. These spots are great for sunbathing, wildlife spotting, and soaking up your remaining time in the park.
Evening:
Your last night at Under Canvas is all about slowing down, savoring the moment, and reflecting on your time in Yosemite. Share toasted marshmallows, sip something warm or local, and tuck into the peaceful, elevated quiet of your upscale safari-inspired tent.
Guided Adventures in Yosemite National Park
Discover the best of Yosemite with unforgettable guided experiences. Whether you’re whitewater rafting, joining a private hiking tour, casting a line on a fly fishing trip, or exploring the park with a local guide, Under Canvas can help you plan your ideal adventure, complete with an expert guide and included park entry.
Where to Stay Near Yosemite National Park
Under Canvas Yosemite sits on 85 acres of forested land and features safari-inspired tents, café-style dining, and West Elm-designed lounge spaces for unwinding after a day of adventure. Just 10 minutes from the Big Oak Flat entrance and steps from a designated YARTS shuttle stop, it’s perfectly positioned for effortless access to Yosemite National Park. Surrounded by nature and packed with comfort, Under Canvas Yosemite turns your stay into part of the park experience – where upscale glamping meets the great outdoors.