Start a drive from Redondo Beach on Palos Verdes Drive and keep going all the way up to the Palos Verdes Peninsula. That one road will take you all over Palos Verdes. It hugs the cliffs so that you see an ocean view as you drive. Be careful, people have driven right off the cliffs as they gazed at the ocean glittering beneath those cliffs.
You can drive all the way to San Pedro if you want, and take a look at the Korean Friendship Bell, Fort MacArthur, or the San Pedro Pier. From San Pedro, you can take the Vincent Thomas bridge to Long Beach. Or you could stop at the Wayfarer's Chapel in Palos Verdes. It's a glass chapel made entirely of glass and wood; it's pretty and is booked solid for weddings. It's tiny--I think it holds only 50 people, so if you are thinking of having a huge wedding there, think again. It's also haunted, so you might want to visit it during the weekday when it's less crowded. You might even encounter a ghost.