Two “tall ships” — the Lady Washington and the Hawaiian Chieftain — have sailed into San Francisco Bay from Gray’s Harbor Historical Seaport in Washington state for their annual visit.

The ships, which visit 40 to 50 ports every year, will offer walk-on tours plus adventure and battle sails and, in Oakland, two trips replete with sea shanties and stories. The adventure sails are intended to demonstrated what tall-ship sailing was like for hundreds of years; the battle sail shows the ships in action (think cannon blasts).

The Lady Washington is a full-scale replica of the original, a pioneering trade ship that went into service in 1787, after the Revolutionary War. The Chieftain was built in 1988 as a cargo ship for the Hawaiian islands.

Redwood City: From Tuesday, March 13, through Thursday, March 14, vessel tours will be offered from 4 to 5 p.m. at the Port of Redwood City’s Municipal Marina. A donation of $5 is requested; no advance ticket purchase is required. Then, on Friday, March 16, the ships will depart at 8 a.m. for their next port, Oakland, and members of the public can come along. Tickets are no longer being sold online, but call 800-200-5239 for waiting list availability.

Oakland: While the ships are docked at Jack London Square, vessel tours will be offered from 4 to 5 p.m. March 17, 20, 21, 22, 23, 24 and 25 (same $5 donation). Battle sails are scheduled for March 17-18 and March 24-25; tickets, $42-$75. Adventure sails are scheduled for March 18 and March 25; tickets, $42-$59. The “Shanty Stories Sail” is an evening trip on March 24-25; tickets, $75.

Antioch: On March 30-31, a Friday-Saturday, you’ll find the ships at the Antioch City Marina before they make their way north to Crescent City. The $5 vessel tours will be available from 4 to 5 p.m. March 30 and from 10 a.m. to 1 p.m. March 31. An evening sail ($42-$49) is set for March 30 while March 31 will feature both an adventure sail and a battle sail.

Tickets, details: 800-200-5239; www.historicalseaport.org.