This 1-1/2 hour tour of the Milwaukee River, Inner Harbor, and Lake Michigan was a real pleasure. The guide was very knowledgeable about Milwaukee history, not just reading from a script. Facilities on board the boat were excellent. It started raining about half-way through the trip but we just retreated to the covered part of the boat and the tour continued. Highly recommended, especially for families. This is the only tour we could find in Milwaukee that didn't have an alcohol-based theme. Cost is very reasonable ($15 for adults).
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