susy, thanks so much for your suggestions.
I do not mind tiring excursion, my bones are still up to it and my friend is even younger than me. We're in our 20's. Do you have any suggestions of any tours which would finish in time to get back to San Pedro that next day?

We are just looking to do a one night/day get away from San Pedro. We are looking to leave San Pedro on the first ferry in the morning, go to San Ignacio and spend the day and night and then do a tour the next day. Is it possible to return to San Pedro that next day or do we have to spend two nights?