Terrified to drive into San Francisco?

Hey guys! I live in Pleasant Hill, Ca. which is literally 5 mins from Walnut Creek, Ca. My best friend is coming in from Florida and I wanna show her the town she has never been to the west coast. I would like to take her to Ocean Beach basically see most of the sites in SF however, I really wanna take the BART into SF and take MUNI and go from there but I am getting the feeling like it might be a long day and just way too much. A part of me wants to drive but I have always had fears about driving in SF just because of the traffic, etc. I don't know the city that well sad that I grew up here but visiting the city always seems like an obstacle. I need your help...should I drive to show her around and see the sites or should we take BART and super walk everywhere??