Carrying a passport isn't necessary, but is recommended. RELATED LINKS City Guide: Cabo San Lucas

Officially, citizens of the United States and Canada may enter Mexico with nothing more than a photo ID and proof of citizenship, such as a notarized birth certificate. Even so, it’s safer to carry a passport to avoid any possible source of confusion at the border. No visa is required for visits of up to 180 days, only a tourist card form to be filled out at the border or in the plane before arrival.

Be sure to keep your tourist card in a safe place. If you lose it, you’ll be in for some extra paperwork, fees and delays upon exiting the country.

A lone parent traveling with children under the age of 18 must carry documentation proving that the little ones are not being taken across the border against the will of the absent parent. This may be a notarized letter of consent from the other parent, or if applicable, a death certificate or legal proof of sole custody. Letters of consent from both parents are required for children traveling in the company of anyone other than their parents or legal guardians, even if it’s a grandparent or other close relative.

If you plan to cross the border by car and make the scenic drive to Cabo along Baja’s Transpeninsular Highway, you’ll need documents proving ownership and registration of the vehicle, as well as a temporary insurance policy issued by a Mexican insurer. If your vehicle is leased or financed, be sure to get a notarized letter of authorization from the leasing company or lien-holder. For rental cars, you must show a rental contract that specifically authorizes the vehicle to be driven in Mexico.

At the border you’ll receive a temporary vehicle importation permit which, like the tourist card, must be presented to Mexican officials when you leave. U.S. driver’s licenses are valid in Mexico.