Directions & Discount Coupon
If you click on the link under the map you can ask mapquest for specific directions from your location.

 
Directions from Interstate 495 (exit 55)
Take exit 55, Salisbury-Boston, Route 110. At end of exit ramp bear right - follow Route 110 for 0.9 miles and turn right at the light, at the large flagpole just past the Dodge dealership. Go 1.0 mile (you will cross two small bridges), and take a hard left at the intersection. This is Merrimac Street. Go 2.2 miles and just past the Fitness Factory(on your right) turn left into the alley at the sign that says "Hilton's Dock - Fishing and Whale Watching."

Directions from Interstate 95 north & south (exit 58)
Take exit 58 (58A from 95 north), for Route 110 - Salisbury. On Route 110 take your first right at the light, at the large flagpole just past the Dodge dealership. Go 1.0 mile (you will cross two small bridges), and take a hard left at the intersection. This is Merrimac Street. Go 2.2 miles and just past the Fitness Factory(on your right) turn left into the alley at the sign that says "Hilton's Dock - Fishing and Whale Watching."

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Coupon
 

 One coupon will cover each adult, so no need to waste ink.
Neither the am or pm trips have an advantage in terms of sightings, but there are almost always fewer people on the morning trips and less traffic on the highways getting here. So, sail in the morning and save!
Note that the discount is for full fare adults.