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What better way to experience Annapolis then to travel to it by kayak, canoe, or stand up paddle board.
There is no better way to travel into Annapolis then by under your own power on water. Put in your kayak, canoe, or stand up paddle board at the Truxton Park Boat Launch (run by the City Parks Department) and paddle into downtown Annapolis on Spa Creek. Pass other boaters, beautiful waterfront homes, and travel under the Spa Creek drawbridge to end up in Annapolis Harbor and alongside City Dock. If you paddle all the way into Elfreth's Alley (the small canal that gets the closest to the center of Annapolis) you can tie up your boat for short periods there at the end.
Bring your boat to the Truxton park boat launch, drop it off near the water on the sand beach, and then park your vehicle back up the hill int he designated parking area. Paid parking or for the boat launch is only required when you have a boat trailer, so you should be all set. There are public restrooms in the parking area, as well as downtown in the Harbormaster office.
Boats can be rented at the boat launch by Kayak Annapolis for an hourly rate (around $30).
If you feel like heading into Annapolis for a bite to eat afterwards but don't want to paddle in, the Annapolis Water Taxi will pick you up and take you back in for a small price (around $6).