The dock is actually in Cadiz, and we took the double-decker bus trip around the peninsula several times. The beaches are beautiful, and the forts and ruins impressive. The narrative on the bus is in English.
The roads here are incredible and we had a superb driver. We could not get down into the town of Monaco due to a car race, but had spectacular views. Stop at a village way up the hillside for a brief shopping venture. If you have vertigo this trip could present a problem, so take some Bonnine first!