Bay Area Sightseeing Tours
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Goldstar Events
Sign up for Goldstar Events. They have many tours around SF (Whole SF Walking Tour, Nob Hill, Chinatown, etc.) and even brunch/dinners on the Bay. Tix are sold on that website at discount prices, sometimes up to 50% off. It's an awesome website. There's listing of shows and such too.
http://todotravel.com/
http://todotravel.com/english/vacpkg/v-us-west-0.htm Used it when I was here on a short visit, and did not know to drive. Not bad at all.
Grayline
Grayline has some good tours. Typically the pickup point is at 4th street Caltrain station.
Pier 39
Take CalTrain to San Francisco, get down at the last stop and take a cab to Pier 39 from the station. From Pier 39 is itself a main tourist attraction (cruise in the bay etc) from where you can board a city tour tram which would take you around SF.