Driving two hours outside of Caracas will bring you to your launching docks- another few hours by boat will bring you to paradise. La Tortuga is absolute beauty, the beach is a long thin strip that changes shape daily and usually you will have it all to yourself. Bring a tent for cover, the sun gets intense, but the water is divine (oh the colors!!!) and the feeling of escape is perfect. there aren't restaurants/hotels etc., so plan to sleep on your boat, but there are fisherman boats who will come up to you full of fresh lobster which can be bought, cleaned and flambéed in whiskey. Delish! We've only traveled out there with friends, so I haven't used a travel company/agency, but would be happy to make a recommendation. Oh and they call it la tortuga for a reason, we saw some gorgeous large sea turtles swimming along the boat several times!!