Pipa is an amazing place to stay a few days relaxing and walking around the beaches, or even enjoying the little city center at night (which I believe can be really crowded at the high season). All the bay is surrounded by beautiful cliffs with a nice sightseeing from the top, the beaches are a walking distance from each other, all of them are clean and the Dolphins Bay is such a great surprise :) Once there pay attention to the tide tables, even though you just want to walk by the coast. Some beaches get inaccessible at a certain hour of day, so it's important to always check if you are planning your day according to the low tide.
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