During an Internet search.
The day before the tour.
To experience swimming in the ocean with our family, other than on the beach and to avoid the jellyfish.
We drove our own vehicle from our rented home.
Staff was very friendly and helpful.
We had an absolutely amazing time on this trip. My husband drove the boat. We anchored in a few different places to swim and enjoy each other's company. Four hours was more than enough for us to get our fill of sun and waves. We even got to stop on a nearby beach with native birds and hundreds of crabs in the sand to chase and play with.
Other than the safety course basically being a quick map review and being told to be careful, we had a great time. Just make sure you have someone experienced to drive you around so you don't get stuck in shallow water like so many others did that day.
Yes, as long as you have someone in your group who has driven some sort of boat before.