The ferry runs on time, it's bumpy enough to be fun, and it's a cheap way to get between the islands - here are some comments to make your trip easier:
we interrupted our stay on Maui with a 2-night stay on Lanai. So, we took the ferry with one suitcase and 2 carry-on bags. There is storage for luggage on the boat, inside the main cabin, right after you board. There's nobody to help with luggage, and they do have limits, so travel light.
we needed to park for almost exactly two days, which worried us a bit, but we called the ferry company, who told us "park behind the Wharf Cinema", which is the huge building on Front St in Lahaina, right across from the famous Banyan Tree at the harbor. Parking in Lahaina can be mysterious the first time, because there's usually nobody to tell you what to do. Turns out you prepay via a machine for the amount of time you expect to be there, leave the receipts on your dash, and settle up when you leave. We found that the machines have a 24-hour limit, so you buy two tickets for the two days. We weren't sure all this would really work, so we found a staffed lot - a guy in a booth - which we found comforting. That lot is south of Dickenson St on WaineeSt (i.e. if you're coming north on rt. 30, go left on Dickenson, left on Wainee, then the staffed lot is on the right). This lot charges $15 for 24 hours. (There is also at least one unstaffed lot on Dickenson.) This lot really is "behind the Wharf Cinema" but It's a walk from there to the harbor if you stay on streets ... if you walk away from Waimee throught the parking lots you get to an alley to the right of he Cinema Center which brings you to Front St at the harbor. Ask the guy in the booth - it's hard to describe.
Finally - why do I say "once you find it"? Expeditions Ferry's directions say "across from the Pioneer Inn", but they don't say across from WHAT, and phoning them isn't helpful. You'll find The Expeditions booth right by the ocean, so walk away from Front St toward the water, with the pioneer inn on your right, and you'll find a booth on the edge of the water. It has a sign on each SIDE, not visible from the front, and a sign on top, obscured by trees. The person in the booth will take your reservation and give you tickets. She would probably take money for tickets as well, but reserving on-line is a good idea.
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