Take the MBTA Commuter Rail from Boston's North Station to Salem Station on the Newburyport/Rockport line — about 30 minutes, far cheaper than parking, and it drops you a short walk from all major attractions. Salem is highly walkable once you arrive. A seasonal Boston-to-Salem ferry (operated by City Cruises, not MBTA) departs Long Wharf in downtown Boston from late May through October 31. The scenic harbor crossing takes under an hour and docks at 10 Blaney Street, a short walk from downtown. Book ahead; it sells out in October.