Milford Sound is an amazing 22km-long fiord dominated by Mitre Peak and dotted with tall waterfalls, vertical rock faces and seals. Drive yourself or choose a tour, either way, look out for the Avenue of the Disappearing Mountain, the Mirror Lakes and the rough-hewn Homer Tunnel that brings you into the Sound.
A cruise on Milford Sound will be an essential part of your time in Fiordland; most boats offer an underwater observatory option. Alternatively, explore at your own pace in a sea kayak.
Spend the night in Te Anau or return to Queenstown.
Caution: If you choose to self-drive, be sure to give yourself plenty of time as conditions varying greatly on this route, particularly in winter.