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Sea Kayaking is a great way to experience the area, and the coast of Mount Desert Island is one of the most beautiful coast lines for kayaking in the country. The porcupine islands off the coast of Bar Harbor in Frenchman's bay are especialy beautiful.
It takes a lot of training and a lot of expensive equipment before it is safe to go out on your own but you don't need to have any training or previous experience or equipment to go out with one of the kayak tour companies/outfitters on the Island.