A ferry cleaves the harbor at first light and the V&A Waterfront loosens its grip on you—salt air and gull cries replace car horns. This full-day Cape Town loop begins with a harbor departure toward Robben Island, where the flat, wind-buffed rock holds a small museum and the cell where Nelson Mandela spent years. Later the road unfurls south along the Atlantic, climbing the dramatic escarpments of Chapman's Peak, dropping down to white-sand coves at Clifton and Camps Bay, and finally delivering you to the wind-scoured promontory of Cape Point and a tuxedoed procession of African penguins at Boulders Beach.