Sailing from 1 port to another?

Hi, I'm trying to write a story about a group of friends sailing up a coast in small sailboat. Their (mis)adventures involved going as cheaply as possible. Can one sail up near a marina and just anchor in the water and take a inflatable to shore for the day? do they typically have to pay to dock the small inflatable? what do people normally do sailing up and down a coast? what is the right terminology? Thanks!