How We Spent 6 Days in Maui: Our Complete Itinerary

Maui is one of those places that truly has it all — scenic drives, rainforests, waterfalls, volcanoes, and beautiful beaches. On our family trip, we spent six unforgettable days exploring different sides of the island, from the lush rainforests along the Road to Hana to the golden beaches of Wailea and the dramatic summit of Haleakalā.

We wanted to explore as much of the island as possible, so our Maui itinerary included everything from hiking through a bamboo forest and whale watching to driving across different parts of the island and enjoying a traditional Hawaiian luau. Each day felt completely different, filled with unique experiences.

If you’re planning your own Maui vacation, this itinerary is a great way to experience the island’s highlights at a relaxed pace while still covering all the must-dos. Here’s how we spent six full days exploring Maui.

Our Maui Itinerary Overview

We had full six days exploring Maui. We arrived the evening before and departed on the 7th day morning.

If you’re short on days or have an extra day, you can easily adjust this itinerary. For a 5-day Maui itinerary you an do Road to Hana as a day trip, or skip either Day 5 (West Maui) or Day 6 (South Maui). For a 7-day itinerary, you add an extra day to relax at your resort or plan a snorkeling trip to Molokini Crater or a day trip to Lanai.

Day 1 and 2: Road to Hana Adventure

Driving the legendary Road to Hana was one of the highlights of our Maui trip. Instead of rushing through this scenic route in one day, we decided to spread it out over 2 days, which turned out to be the best decision ever.

The drive is extremely windy and is packed with waterfalls, beaches, single-lane bridges, ocean views, and banana bread stands. Having two days meant we could take our time and enjoy every stop without feeling rushed.

To make the most of the drive, we used both the Shaka and Gypsy audio tours. Each one automatically played stories and directions as we drove, pointing out hidden stops and local history.

We listened to both on alternate stretches over our two days and liked Gypsy’s audio tour a bit more for its clear directions, relaxing narration, and just-right amount of storytelling between stops.

We started from Kaanapali around 8 a.m., taking it slow with plenty of breaks for photos and snacks. The beauty of this drive is that it’s all about the journey, not just reaching Hana.

✅ If you prefer taking a guided Road to Hana tour instead of driving yourself, I recommend this Small-Group Road to Hana Adventure Tour. Experience the black sand beach and other highlights with a local guide.

Day 1: From Paia to Hana

On Day 1, we planned to explore the drive up to Hana town, including the famous black sand beach. Our reservation slot for the beach was from 3 to 6 p.m., so we kept that in mind as we explored. We had to skip a few smaller stops to make it on time. You have to make online reservations to visit the beach.

Our first stop was Ho‘okipa Beach Lookout, where we watched surfers riding huge winter swells. This beach is also popular for spotting turtles, but there were none in the morning. You might have better luck later in the day when they come up to rest on the beach. We spent around 30 minutes here enjoying the views.

From there, we continued along the winding road, stopping briefly at Twin Falls, the first waterfall of many on this drive. There is a parking fee (we paid $10) to access the trails and the falls. We spend around an hour here.

A little farther ahead, we pulled over at Kaumahina State Wayside Park for sweeping ocean views and a quick restroom stop.

Then came one of my favorite detours, the Ke‘anae Arboretum, where we were fascinated by the vibrant rainbow eucalyptus trees. It’s a peaceful walk surrounded by unique trees and lush greenery, and we spent about 30 minutes strolling the path.

Just down the road, we turned into the Ke‘anae Peninsula, a beautiful flat stretch of land where waves crash dramatically against black lava rocks. The small stone church there, framed by the Haleakalā slopes, made for a peaceful photo stop.

No visit to this area is complete without a warm loaf of Aunty Sandy’s banana bread, baked fresh daily and worth every bite.

After that, we skipped most of the smaller stops to make sure we reached Waianapanapa State Park for our reservation at the famous black sand beach. We reached around 5 PM, a bit later than planned, but the upside was that we had the beach pretty much to ourselves!

The contrast of black sand against turquoise water and green cliffs was unforgettable. There was a cool sea cave here! We stayed until the beach quieted down near closing time.

That evening, we checked into Hana Kai Resort, our oceanfront stay in Hana. Our one-bedroom condo had a loft, a full kitchen, and a balcony overlooking the ocean. It was peaceful, relaxing, and the perfect way to unwind after a long day of exploring. Hyatt Hana Maui Resort is a luxury oceanfront accommodation in Hana, but it was sold out for our dates.

Dinner was at Hana Farms, where we devoured fresh pizza with arugula and pesto. They also had a cool store where we bought some local goods and souvenirs.

We ended the day watching the waves from our balcony, listening to the sound of the ocean. It was the perfect ending after a full day on the winding Road to Hana.

Day 2: Pipiwai Trail, Oheo Gulch, and drive back

We started our Day 2 watching an amazing sunrise from the beach behind our resort. It was also a black sand beach, but it was quite empty.

We started early, checking out of our hotel in Hana around 7 a.m. and grabbing a quick breakfast from the food trucks in town before driving toward Haleakalā National Park’s Kipahulu District. The drive took about 45 minutes and was beautiful, winding through lush rainforest and narrow, canopied roads.

Our first stop was the Pipiwai Trail, one of my favorite hikes in Maui. The trail begins near the Kipahulu Visitor Center, and the same parking area is used for both the Pipiwai Trail and the Pools of Oheo. We paid the $35 entrance fee to Haleakalā National Park, which is valid for three consecutive days (and can also be used at the Haleakala summit).

We started our hike around 9 a.m., and since most day-trippers don’t arrive this early, we had the trail mostly to ourselves. It felt peaceful walking through the forest, listening to the birds and rustling bamboo.

The banyan tree along the way was enormous, and the bamboo forest was unlike anything I’d ever seen, so quiet and surreal with tall stalks swaying in the breeze.

The trail is about 4 miles round trip with a gradual incline and a mix of dirt, roots, stone steps, and wooden boardwalks.

At the end, we reached Waimoku Falls, a dramatic 400-foot waterfall cascading down the cliffs. The area directly beneath the falls is closed off now, but we still got a great view from the sign at the end of the trail.

After finishing the hike, we explored the Oheo Gulch (Pools of Oheo) area, also within the park. We did the short Kuloa Point Trail, an easy half-mile loop with views of the ocean and the tiered waterfalls below. It was a great cool-down after the longer Pipiwai hike.

As we drove back toward Hana, we stopped at Wailua Falls, one of the most photogenic waterfalls on the Road to Hana. It’s about 80 feet tall and surrounded by dense forest. We parked just after the bridge and walked back for a clear view of the falls.

We took a detour along Haneoo Road and visited Hamoa Beach, one of the prettiest white-sand beaches on this side of Maui.

A bit farther along the same road, we came to Koki Beach, known for its reddish-brown sand and dramatic cliffs. It’s not a swimming beach because of the currents, but it’s absolutely beautiful. Next to the beach is the famous Huli Huli Chicken stand.

We ate lunch at Thai Food by Pranee, which was fresh and full of flavor. Around mid-afternoon, we began the long drive back toward our resort in Kaanapali, Aston Kaanapali Shores, tired but thrilled that we’d experienced everything we wanted without feeling rushed.

My most memorable moments from the Road to Hana were watching the sunrise from the beach behind our resort and walking through the peaceful bamboo forest on the Pipiwai Trail.

Splitting the drive into two days gave us the freedom to explore at a relaxed pace, and it ended up being one of the highlights of our Maui trip, though watching the sunset from the Haleakalā summit was a close second.

➡️ Read more details about our Road to Hana Itinerary here.

Day 3: Haleakala Summit and Upcountry Maui

After two full days on the Road to Hana, we were ready for a slower morning. We stayed at Aston Kaanapali Shores in West Maui for the rest of our trip, where we had a one-bedroom condo with a full kitchen.

We decided to start our day around noon, a much-needed late start after the long Road to Hana drive and hike the previous day. This was one of the main reasons I chose to visit the summit for sunset rather than sunrise, as I did not want to wake up at 3 AM!

Our plan for the day was to explore Upcountry Maui and end the evening at the Haleakalā National Park summit for sunset.

Entrance to Haleakalā National Park costs $30 per vehicle and is valid for three consecutive days. So if you’re also visiting the Kipahulu side for the Pipiwai Trail or Oheo Gulch, save your pass. Dress in layers since it can be much cooler at the summit, and bring water and snacks since there’s nothing for sale inside the park.

The drive upcountry offered a completely different side of Maui. As we climbed in elevation, the scenery changed from palm trees and ocean views to rolling green hills, farms, and panoramic views of the island.

We used the Gypsy Guide audio tour, which shared local history and stories along the route, making the drive even more enjoyable.

We passed through Makawao, a charming little town known for its boutiques, art galleries, and small cafes. It’s the perfect stop for a quick bite or coffee before heading up to Haleakalā. Ali‘i Kula Lavender Farm is another cool place to explore if you have the time.

By early afternoon, we began the drive toward the Haleakalā National Park summit. The winding road climbs to over 10,000 feet, and as we ascended, the lush green scenery slowly gave way to a rocky volcanic landscape. The last stretch of the drive after the National Park entrance is quite daunting, with steep climbs and no guardrails!

We arrived at the Haleakalā Visitor Center area well before sunset and decided to walk a short section of the Sliding Sands Trail. Even hiking just half a mile gave us incredible views of the vast crater below.

As sunset approached, we found a spot near the Haleakalā Summit lookout. It was cold but not too cold, and we lucked out with clear skies. Watching the sun dip into a sea of clouds as the sky turned shades of orange, pink, and red was surreal.

We stayed a while after the sun disappeared, taking in the stargazing that Haleakalā is famous for. We then started the slow descent down the mountain.

If you prefer not to drive, several excellent tours include transportation to Haleakalā for sunset. And unlike sunrise, you don’t need reservations for sunset, which makes planning much easier.

➡️If you prefer to take a guided tour instead of drivign to the summit yourself, I recommend this small group Haleakala Maui Sunset Tour – Includes transportation, a guide, and a stop at the Kula marketplace.

It was the perfect way to spend our third day in Maui – slow morning, scenic drive through Upcountry, and an incredible sunset high above the clouds. I’d rank this sunset right up there with the best ones I’ve seen along the California coast.

Day 4: Whale-watching and Old Lahaina Luau

We started our day with a morning whale-watching tour from Lahaina Harbor, which was one of the highlights of our Maui trip. If you’re visiting during whale season, between December and April, I highly recommend taking a whale-watching tour in Maui to see them in their natural habitat.

Our tour was on a stylish catamaran boat with around 40 people, a friendly crew, and we had several whale sightings. The same tour now departs from Maalaea Harbor, but everything else about it remains the same.

Even though it was the end of December, the weather was perfect that morning, and we didn’t even need jackets. The marine biologists and naturalists onboard shared interesting facts about humpback whales, and the captain was great at turning the boat around during sightings so everyone could see.

We saw several whales spouting, tail slapping, and even a mom and baby swimming together. My kids loved sitting on the nets of the catamaran, hoping to spot turtles or fish below. The crew also let us listen to the whale songs through underwater hydrophones — such a cool experience!

➡️ This is the whale watching tour we went on:
2 hour small group whale watching tour from Ma’alaea Harbor

After the tour, we went back to our resort at Aston Kaanapali Shores and spent the afternoon relaxing by the pool, a much-needed break after three busy days of driving the Road to Hana and Haleakala summit.

In the evening, we went to the Old Lahaina Luau, which turned out to be a memorable experience. I had researched all the luaus before our trip, and this one stood out as the most authentic and well-reviewed. I am glad I chose this one as it truly lived up to its reputation.

From the moment we arrived, everything felt warm and welcoming. We were instructed to park in the overflow lot across from the venue, were greeted with fresh orchid leis, and shown to our private table facing the ocean. You can choose between floor and table seating, and we decided on table seating during booking.

The setting was stunning with tiki torches, palm trees, and a circular stage right by the water. I liked that the luau isn’t part of a resort; it’s a standalone venue with its own charm. The evening began with a welcome drink, live Hawaiian music, and free time to explore the grounds.

The sunset views were beautiful, and local vendors were selling wooden crafts and jewelry. I bought a handcrafted wooden turtle as a souvenir. The Imu ceremony, where they unearthed the roasted kalua pig from the underground oven, drew quite a crowd.

Afterward, dinner was served in five courses at our table (not buffet-style), which was a great touch. Our server was friendly and explained each course. The food was beautifully presented and included traditional Hawaiian dishes, with vegetarian options available by request. The drinks were unlimited and included all island favorites like Mai Tai, Pina Colada, and Lava Flow.

The 45-minute hula show after dinner was the perfect finale. It focused on the history of hula and Hawaiian storytelling rather than flashy fire dancing, and the performers were incredible. It was classy, cultural, and beautifully done.

After the show, our server brought us small banana bread packages to take home, which was such a thoughtful touch at the end of the evening.

If you plan to go, book your tickets early on the official website as this luau sells out months in advance. If your date is sold out, you can get on their waiting list. That is how we were able to get reservations.

We covered two bucket list Maui activities this day, with whale-watching in the morning, and an authentic Hawaiian culture experience in the evening.

Day 5: Exploring West Maui

West Maui has some of the island’s most beautiful coastal scenery, beaches, and resorts. We spent our fifth day exploring this part of the island at a relaxed pace and checked out several popular spots — from scenic trails to blowholes and lively beach towns. The Gypsy audio tour was helpful as it pointed out upcoming stops as we drove.

Kapalua Coastal Trail

We started the morning with a walk on the Kapalua Coastal Trail, one of the most scenic and easy coastal hikes in Maui. The trail runs along the shoreline, connecting several small beaches and rocky coves.

We parked near Kapalua Bay and walked a part of the trail, stopping often to admire the views and the turquoise water. We could easily see Molokai Island from the trail.

The path is paved, making it easy for families. There are several access points along the way if you want to shorten the walk or visit just one of the beaches.

Nakalele Blowhole and Lookout

After Kapalua, we drove north along the coastal road to the Nakalele Blowhole. The drive itself was beautiful, winding through cliffs and ocean views. It got quite narrow and reminded us of the Road to Hana as we approached the blowhole.

There’s a dirt trail that leads down to the blowhole, but we didn’t go all the way down as the rocks looked slippery, and the waves were strong that day. We did see some people standing very close to the blowhole, which seemed quite dangerous. You can still get great views from the upper lookout area without going down.

The parking lot here is small, and we saw a lot of broken glass, probably from smashed car windows, so keep an eye on your car while here. Another reason not to venture down to the blowhole.

The road further northeast past the blowhole is narrow and winding and not advisable for tourists. So we turned around after that.

Honokohau Bay and Lookout

On our way back from the blowhole, we stopped at the Honokohau Bay Lookout. It’s a small pullout on the side of the road with sweeping views of the bay below. We didn’t hike down to the beach but spent a few minutes enjoying the view and taking photos.

Maui Tropical Plantation

In the afternoon, we drove inland to the Maui Tropical Plantation, a great place to spend a few hours with family. The kids did the Maui Zipline, which runs over the plantation fields and offers nice views of the mountains. This is a great place to visit for families.

We explored the Country Market and picked up a few tropical fruits, and also stopped at Café O’Lei for some snacks and iced coffee. The plantation also offers tram tours that take you around the farm while explaining the crops and history, perfect for younger kids or anyone who wants a relaxed experience.

Kepaniwai Park on Iao Valley Road

Our next stop was Iao Valley, but the main state park was closed when we visited. We still drove a short way up Iao Valley Road and stopped at Kepaniwai Park, a peaceful park that seemed popular with locals.

It has picnic areas, walking trails, a stream running through it, and a small Japanese temple. It’s a nice spot to take a short break if you’re driving through Central Maui. I would skip this park if the Iao Valley is open or if you are short on time.

Kaanapali Beach and Black Rock

We ended the day back near our resort with some time at Kaanapali Beach and Black Rock Beach.

This stretch of beach is lined with some of Maui’s most famous resorts, including Hyatt Regency Maui Resort and Spa, Sheraton Maui Resort & Spa, and Westin Maui Resort. This seemed like a happening place to stay in West Maui, with easy beach access, water sports, and oceanfront dining.

We watched a few brave cliff jumpers at Black Rock, then walked along the paved Kaanapali Beachwalk Trail, which connects the resorts to Whalers Village.

Whalers Village was a great place to stroll around in the evening. There are plenty of shops, and some popular restaurants like Monkeypod Kitchen by Merriman and Hula Grill for a relaxed dinner by the beach.

By the end of the day, we felt like we’d really experienced the best of West Maui, from the rugged coastline and scenic drives to the resort-lined beaches and lively evening atmosphere around Kaanapali.

This part of the island has a fun, vacation feel with plenty of restaurants and resort amenities. The next day in South Maui would show us a completely different side of the island with quieter beaches and a more relaxed, local vibe.

Day 6: Exploring South Maui

For our last full day in Maui, we explored South Maui, including Kihei, Wailea, and La Perouse Bay which is the very end of the road in this part of the island.

We didn’t have a fixed plan for this day and we just wanted to enjoy a relaxed drive and stop wherever something caught our attention. The Gypsy audio tour was again really helpful in pointing out upcoming beaches and attractions along the way.

Kihei

We started our morning in Kihei, a laid-back beach town with a local vibe and plenty of food trucks, shops, and small markets. It felt much less touristy than the resort areas and had a friendly, casual feel.

We grabbed some food from one of the local food trucks to take along for the day. There’s no shortage of great casual eats here, from tacos to acai bowls and smoothies.

Some of the most popular beaches in Kihei are Kamaole Beach Park I, II, and III, all great for swimming and snorkeling, with lifeguards and easy parking. Kihei is also a good base if you’re planning to go on a Molokini Crater snorkeling tour, as most of them depart from nearby Ma‘alaea Harbor.

➡️ Check my post here about the best things to do in Kihei.

Wailea

From Kihei, we continued south to Wailea, a beautiful resort area known for its luxury hotels and manicured beaches. We parked at the Fairmont Kea Lani Resort and walked the scenic Wailea Beach Path, a paved coastal trail that connects several of Wailea’s beaches.

The walk offered gorgeous ocean views, and we passed by some of Maui’s most famous resorts, including the Four Seasons Resort Maui and the Grand Wailea. Even if you’re not staying here, it’s a lovely area for a walk or a beach day. Wailea Beach itself was calm and perfect for swimming, with golden sand and clear water.

Makena State Park

Next, we stopped at Makena State Park, home to one of Maui’s most impressive beaches. The wide stretch of sand here, also called Big Beach, had incredible views of Molokini Crater in the distance.

Molokini is a crescent-shaped volcanic crater just offshore and one of Maui’s top snorkeling destinations, accessible by boat tours from Ma‘alaea or Kihei.

La Perouse Bay

We kept driving south until we reached La Perouse Bay, the last accessible point on the road in South Maui.

The final stretch through the Ahihi-Kinau Natural Area Reserve was on a gravel road surrounded by dramatic black lava rock fields. It was a bumpy ride, and for a few moments, we weren’t sure if our rental sedan would make it — but it did just fine.

The landscape felt otherworldly, with jagged lava formations stretching all the way to the ocean. The beach at the end was rocky, and there’s a trail here called the Hoapili Trail, which we didn’t explore.

After reaching the end of the road, we turned back and made our way to Kaanapali. We spent the rest of the evening relaxing at our resort. What an amazing week it had been in Maui — from the scenic Road to Hana to the sunset at Haleakala and everything in between.

Travel Tips from our visit

If it’s your first visit to Maui, these tips from our own trip will help you plan smoother and make the most of your time on the island:

Final takeaways

Our six days in Maui gave us a wonderful mix of waterfalls, beaches, scenic drives, and Hawaiian culture. From exploring the lush rainforests along the Road to Hana to watching the sunset above the clouds at Haleakalā and enjoying a whale-watching tour, every day felt memorable in its own way.

If you’re planning a trip to Maui, this 6-day itinerary covers the island’s most iconic experiences while keeping a relaxed pace.

Up next, if you’re visiting other Hawaiian islands, check out my Oahu itinerary and Big Island itinerary to plan the perfect Hawaii vacation.

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