For your parents AC would be our choice for a private day. If they just want to see the highlights, including the distillery and an hour or two in CGB, photo ops from high up, etc, there are shared safari taxis that specialize in 3 - 4 island tours for ~$25/pp…
A fun spot for a cold drink and a bite after is Pusser’s Road Town Pub near the cruise dock…

You would need to taxi to the trails from the cruise dock…


"Travel changes you. As you move through this life and this world you change things slightly, you leave marks behind, however small. And in return, life — and travel — leaves marks on you.”
-Anthony Bourdain