A great way to see the islands is by boat. Sailboats and motorboats can be rented or chartered with a crew from any major harbor. The conditions for sailing and motoring depend on the time of year and anchoring off islands can be tricky, so either be sure you know what you are doing or hire a crew.
If you are an experienced sailor, it doesn't get any better than the BVI. Line of sight sailing in moderate trade winds, no currents to speak of, barely any tides, and few underwater obstructions other than the shore itself make sailing around the islands very relaxing.
Road Town, on Tortola, is one of the principal centres for bareboating self-hire yacht chartering in the Caribbean. It is the headquarters of Sunsail Sailing Vacations (http://www.sunsail.com) and Tortola Marine, located in the Road Reef Marina; Conch Charters (http://www.conchcharters.com), BVI Boat (http://www.bviboat.com), and The Moorings (http://www.moorings.com) which are four of the main charter boat companies operating out of Road Town/Road Harbor. Ten minutes from Road Harbour is Nanny Cay Marina where you can find Horizon Yacht Charters (http://www.horizonyachtch...) and The Catamaran Company (http://www.catamarans.com).