We ended up staying there for three nights while we spent four days exploring Cape Cod, Boston and Plymouth, which were all within driving distance.
We had our maps and thought we could locate and see the lighthouses in half a day and go up to Plymouth in the afternoon. Little did we know that we would be driving about 150 miles that day. The maps weren’t cooperating! (Of course, you might think it was the navigator’s fault.) Eventually, we were able to locate several lighthouses; some from afar. The scenic views were pretty incredible, but it was hard to get to the beaches because so many of them are privately owned. 
Hyannis was the first lighthouse on one of our maps, so we made several turn around to try and find it. We finally stopped at a beach parking lot and asked the attendant. She was almost embarrassed to point it out to us. It happened to be right there and she let us park for free to take a picture. It looks like a lifeguard stand with a green light on top. That is it.
Chatham Lighthouse is part of the US Coast Guard
The Nauset Lighthouse is one of the more colorful ones.
Coast Guard Beach 
The Highland Lighthouse, aka: Cape Cod Light in Truro, was the first light seen on a voyage to Boston from Europe. It has been moved inland due to erosion. You can go inside this one. We chose not to ascend the 69 steps to the top and just enjoyed it from below. 
Provincetown, at the very tip of the Cape, has three lighthouses, but we were only able to view two of them. The Wood Edge Light is accessible by walking over the rock barrier.
It looked pretty nice from a distance. :-)
The Race Point Light is only accessible by boat.
Provincetown is quite a tourist trap and we did a little sightseeing, but that was about it. The ride back to our campsite took about two hours. We did a lot of driving around looking for the lighthouses, so it really took the whole day. We slept really well that night!
Next stop: BOSTON, MA
