You do not need a tour of Juneau. You can walk into town from your ship and explore on foot. It is not very large. You can walk to everything.
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While many people go to Mendenhall Glacier with a tour group or on a shore excursion, you can also get to the glacier on your own. You can take a taxi from Juneau, drive to the glacier with a rental car, or take the city bus to Glacier Spur Road and walk the rest of the way (1.5 miles).
Walking on a glacier in Alaska is an activity that every adventurous traveler should experience firsthand. Juneau is one of the best places for this with many glaciers and different types of excursion options.