Scooped out of the middle of the Maine Coast, Penobscot Bay is Maine’s center for both lobstering and pleasure-sailing. After miles of flirting with the coastline, Route 1 finally runs smack along the water as it passes through a series of picturesque Maine villages. This is prime lobster country, with each coastal community competing for bragging rights over who has the meatiest and juiciest of these eight-legged crustaceans.

Not that these communities are all the same; portside Rockland gives way to upscale Camden and funky Belfast. In the bay, the various islands each have their own character, from the working lobstering island of Vinalhaven to the car- and electricity-free Monhegan.

Getting to Penobscot Bay

Any trip to Penobscot Bay will take you far from the highway. For Rockland or Camden, take exit 28 off of I-295 to U.S. Route 1 and work your way up the coast to Newcastle. From Newcastle continue up Route 1 to Rockland (25 mi., 40 min.), Camden (30 mi., 50 min.), or Belfast (50 mi., 1 hr. 10 min.). Alternatively for Belfast, take I-95 to Augusta (exit 109), then U.S. Route 202 and Route 3 east to the coast (45 mi., 1 hr. 15 min.).

Concord Coach Lines (800/639-3317, www.concordtrailways.com) offers bus service to Rockland (Maine State Ferry Terminal, 517A Main St.), Camden/Rockport (Maritime Farms, 20 Commercial St./Rte. 1, Rockport), Belfast (Big Apple Convenience, 268 Main St.), and Searsport (Steamboat Gallery, 161 E. Main St./Rte. 1) on its three daily non-express trips up the coast.

In Rockland, All Aboard Trolley Co. (21 Limerock St., Rockland, 207/594-9300, www.aatrolley.com) circulates around the downtown area and stores. In the other towns, you are limited to taxis. Try Schooner Bay Limo & Taxi (Rockland, 207/594-5000), Mid-Coast Limo (Camden, 207/236-2424), and Belfast Taxi Company (Belfast, 207/338-2943).