Boat rides are offered by the locals and you will have no trouble getting on one. The rides are short, about 20 minutes, and you will find somebody peddling their services as soon as you get off the bus or as you walk around the market.
The Village of Tai O is built partly in a tiny island off the mainland of Lantau. The only way to get to this side was with a ferry pulled by rope by the Tanka women. There is now a footbridge that crosses the narrow canal. Prices are of course negotiable but expect to pay about HK20 per adult, half per children, the bigger your group, the more leverage you have. We ended up paying HK140 for our group of 10, which is about how many the boat takes, around 10-12 people.
There are many points from which the boats depart including the bridge and the main marina, but all the boat rides cover the same main spots.
The Tai O Stilt Village
Our ride took us first for a look at the Stilt Houses. The small traditional-style old houses sit along the waterfront in the estuary and are somewhat protected. There are also cafes and restaurant alongside and some old houseboats.
Nowadays, with fishing in decline, tourism seems to be Tai O's drawcard, the Stilt Village is a big attraction.