Catch the ferry from Circular Quay to Cremorne Point and they follow this walk all around the point to Mosman Ferry stop where you can pick up a ferry to return to Circular Quay. The walk is around 1 1/2 hrs at a gentle pace with fabulous views across the harbour to the bridge. Lovely garden areas, beautiful expensive house to envy!
If you access the Sydney Ferry website, they are lots of good suggestions for harbour walks accessible from the various ferry points. Various lengths and levels of difficulty - your choice - all are well worth doing
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