We waited until arriving at port and we talked with two different companies to decide which city tour to take.  We ended up with a guided tour and 2 hr beach break for only $40 pp.  They gave us a discount for 3 kids in our party of 9.  It was enjoyable and we liked that we were able to see the culture and life in D.R.

Amber Cove (Puerto Plata)

We took a taxi to Coki Beach for snorkeling.  The taxi driver approached me at port, and we negotiated a price, including a group discount.  
The beach was uncomfortably packed, but we went all the way to the end near the rocks, making snorkeling a lot better.  
Our driver scheduled a return service, and he was waiting for us when we were ready to leave.  He didn't take payment until arriving back in port.  

Our group of 9 can't wait to return to San Juan.  We walked to Starbucks then walked to Castillo de San Cristobal.  We took kites for the kids to fly in the grassy area before entering the National Historic Site.  The cost is $7 for adults and free for kids under 15 or so.  The offer the Jr. Ranger program.  If you have a kid, they can complete age appropriate activities in a booklet and get a little badge.  It's a nice little plastic souvenir....that's also free! 
We would have loved to visit the other fort as well, but there just wasn't enough time in port and our kids were too tired to take the 30 min walk.  
Some family members who accompanied us on the cruise decided to take a driving tour.    
 It was also booked once arriving in port; not through the ship.  They were really happy with it.  
Someday we hope to return and get to see more of this amazing city!

San Juan

We walked into port looking for a mini-van rental.  I simply approached one of the available tour desks and asked where I could rent a van for our party of 9.  I was easily pointed in the correct direction and found a van without hassle.  
Island Auto Rentals only asked me to fill out a paper form with my name and demographics.  I was assured that insurance was provided.  It was a little worrisome considering no ID or other documentation was required, but we ended up having no issues.  We paid $120 in cash for a van that would hold 8 passengers.  The attendant wasn't concerned about the number of passengers, only that we make sure to fill the tank back to the original level.  (1 gallon is what we put in; at $6/gallon.  We probably used even less!)
Driving is on the R side of the vehicle and on the L side of the road.  3 American adults didn't have any problems trying it out!  
We first drove to the lighthouse on the N of the island.  It was crazy with tourists on excursions, so we left and went to Pillory Beach on the NW side of the island.  There was broken coral all over the beach, white sand, very few tourists and fun  snorkeling with our own equipment.  I personally really enjoyed examining the coral and shells on shore while others explored in the water. 
Next we drove to another beach further south, but still on the W side of the island.  We were the only people there.  The kids snorkeled again, although it wasn't as entertaining for that.  The sand was smooth with few coral or shells, but it was amazingly beautiful!  We all want to return to Grand Turk; there just wasn't enough time to enjoy the island.
Don't feel intimidated to rent a car while there!  I had google maps available on my phone through Verizon, but even without that, there are plenty of signs or people to direct you wherever you need to go.  You can always download an offline map of the island before you go if internet/GPS won't be available to you.  We loved this location and were so glad to have an air conditioned vehicle to return to after playing at the 2 beaches we visited.  

Even though we loved the band, we would have liked more family time on our family vacation.It was disheartening to not be able to drop them off to have fun so we could do "adult time".

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