Hop into your rental car and drive over to the Jupiter Inlet Light, located on the north side of the Jupiter Inlet. This lighthouse, completed in 1860, permits regular tours, and a full museum operates nearby. If you’ve got the kids with you—or if you just like animals—drive down to Palm Beach Zoo, located about 20 miles south of Jupiter Beach. Get to know the local wildlife, grab a bite to eat, and then lay out in the sun along the shores of West Palm Beach. Just remember your sunscreen.