Only "people" ferries/boats to Cape Lookout round trip from Beaufort or Harkers Island. The cost is approximately $15 round trip per adult. You will go out to Cape Lookout then return to where you departed and left your vehicle - either Beaufort or Harkers Island. Since you are going in July, reservations are preferred. When you get back from Cape Lookout, you will then have to drive to the Cedar Island Ferry Terminal. From Cedar Island to Ocracoke is the 2.5 hour vehicle ferry which I believe does require a reservation.