Whether you've come from the East Bay on the I580 via the Richmond San Rafael bridge or from the peninsula over the Golden Gate Bridge, you will end up travelling North on the 101 to San Rafael.  Take the Central San Rafael exit.  It turns sharply at right angles to the freeway and presents you with a one-way street and far too many traffic lights for a wee town.  Navigation is easy - there's a First Street ... a Second Street ... get the drift?  Turn left onto Fourth Street, driving under the freeway past the bagel store .... and the Fourth Street Tavern is coming up very quickly on your left.  Park as and when you are able.  The Seafood Peddlar is a bit tricky ... you can see it from the freeway but getting there is as convoluted as the average ear.  From the central San Rafael turnoff, you would actually turn first right, then right again until you are travelling exactly parallel to the freeway - travelling South on the service road on the East of the 101 - then look for a road on the left that takes you toward the canal.  I'm going to have to check this one out and re-edit this entry later to get more specific ...