Parking there is free and the views are great.
You'll pass by San Quentin, the Tiburon Peninsula, Angel Island, and Alcatraz on your way to San Francisco. The trip from Larkspur to San Francisco takes about 45 minutes and you are let off at the Embarcadero at the foot of Market Street, which is in the Financial District downtown. You will pass some interesting older architecture as well as new skyscrapers walking up Market St. to the old U.S. Mint. This is the Flood Building which was built in 1904. The building is triangular to fit the strange block it's on.