Heights aren’t really a concern, I’m also not good with ladders or steps, and there you will have others helping if needed…
A swim-in from the boat is also not part of the experience unless you book an excursion that takes you directly to the Baths. The cruise ship excursions typically include a ferry to the Virgin Gorda marina, then a shared taxi to the Top of the Baths, where you walk the path down to the beach and the boulders…
The water shoes are a great idea, as is the back pack!
If you have time after the Baths, stop by the Baths & Turtle in Spanishtown near the ferry terminal for a bite. Or if you have more time have a driver take you to gorgeous Savannah Bay. Fares are cheap, and drivers will work with you on pick-ups.
Or if you want to get back to Road Town first, ferry back to Tortola and stop by Pusser’s Road Town Pub for a bite and check out their clothing shop! Close to the cruise dock…
Enjoy!