To get there, head northwest from Napali Coast State Wilderness Park. Take Hwy 560 E from Ha?ena State Park about 8 minutes down the road. Park your car after mile marker 10 and travel by foot to walk to the third cave you see.
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To get to Tunnels Beach, make your way to Highway 560 until you reach the 8 mile marker for beach access with the best snorkeling opportunities. You can enter at one of two access points: one 0.4 miles past the mile marker and one a bit further down the road at 0.6 miles past the marker.
You can get around Kauai without a car, as there are bus services on the island and taxis are also available. However, public transport isn't particularly frequent and is quite limited in the areas that you can visit, so if you're looking for total freedom when getting around Kauai then a rental car is recommended.
Seeing the whole island of Kauai in a day may sound like a lot, but it can indeed be done! Driving around the entire island takes around 2 hours, not including pit stops! If you want to make the most of your drive, the best way is to map out a few points you would like to explore along the route.
As its nickname suggests, Secret Beach is not marked with signs nor is it easily accessible. A short but fairly steep trail leading to the beach is located at the end of the first dirt road you'll see on the right hand side when turning onto Kalihiwai Road from Kuhio Highway. There is no formal parking lot.