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1st time in Kauai

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My hubby and I are visiting Kauai for the first time in December this year. Wondering if we should hire a car or can we do day tours etc to see most attractions. We are staying in the Lihue area at the Kauai Beach Resort. Hope to do a helicopter tour of Waimea Canyon and especially the Na Pali Coast. Is there a better time of the day to do this. Should we book before we leave home? We are only in Kauai for a couple of days so anything we do will be a bonus. Thanking all in advance.

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