We arrived in Manitowoc in the late afternoon after a bumpy ride from Sturgeon Bay. We set out to explore some of the town and find a place to eat dinner. We promptly found an ice cream place for after dinner. We ate at a really good pump with really interesting food. And then of course we returned for ice cream! We didn't have time to explore Manitowoc the next day as we left for Milwaukee in the morning. But once we arrived in Milwaukee, we rented a car and returned to Manitowoc to tour the submarine and get a look at the Badger car ferry as it headed out across the lake.