Fantastic day trip. Took about 4 hours, including stopping for lunch, to circumnavigate all of Nahant. Starting out on the northern most point on Little Nahant, there is a put in and parking at the Dunkin Donuts Cafe. From there we went due east to a tiny island called Egg Rock covered with birds. From there we headed due south until we got to the southern most point on the peninsula where we stopped for lunch. After lunch we continued up the western coast of the Nahant peninsula, ducking in and out of coves and under piers. Finally ended up just where we started, but on the opposite side of the land bridge, a 2-minute walk back to the truck. The thing that was great about this trip was that while it wasn't an out-and-back, we still didn't have to load up two separate trucks.
Take 95 or 93 to Rt 1 to the Lynnway, in Lynn.