Sausalito is famous for its houseboat colony. Originally established and populated by artists, musicians, and writers - including Jean Varda, Aldous Huxley, Allen Ginsberg, Duke Ellington and Shel Silverstein- it was first grudgingly tolerated and is now too much fixture to ever be removed. The houseboats range from dilapidated shacks that look like they'll sink any moment, to multi story floating palaces. These aquatic homes form the most distinctive neighborhood in Marin. Unfortunately for the tourist, this is a gated community, so you can only see it close up as part of a paid tour, by kayak, or....
...if you rent a houseboat for your visit! Why stay in a nice but generic hotel if you can enjoy being gently rocked to sleep at night by the lapping waves? Wake up to the cries of the gulls and the barking of sea lions. Some places are larger and more luxurious than others, but, by definition, every one of them is a waterfront property!
While local papers and occasional net ads feature properties for rent by the owners, the easiest way for an out-of-towner to secure a berth is to contact Sausalito-Lodging (also known as "San Francisco- As You Like It.") Different properties have different rates, which vary by season, but you can get a quote from them by emailing them at SFO@sausalito-lodging.com with your dates and needs. One of their options, the Purple Pelican, is pictured below. Families and larger groups may find houseboats cheaper than booking multiple hotel rooms.
I have to admit that since I live in San Francisco, I have not stayed in one of these myself. However, I have heard rave reviews from people who have. And I can never go kayaking through the colony without wishing that I, too, could spend a night being carried by the tides. (Also, some boats include kayaks and equipment, so you can do the kayaking tour without having to rent.)