It's about a minute drive to Waimea Town from Lihue, and then another 30 minutes' drive up winding Hwy. In May, my partner and I hope to travel to Kauai for four nights after his conference in Honolulu for five days. If late-night partying and dancing were on your agenda when you planned your trip to Kauaiyou probably didn't do much advance research ahead of your trip. Title IX Coordinators for your campus are listed here: Topless women are probably a lot safer. Koloa also offers ATV tours. State beaches have rules against it though.
Farther west along the coast is Waimea Town, which is near where the famed explorer, Captain James Cook, first landed on the Hawaiian islands.
Still, you'll be very out of place except in a few remote sites. All forums. Here's a detailed story I wrote on the hikewith tips on parking, mileage, and other logistics. Report inappropriate content.
However you experience the Napali Coast, be sure to make the drive along the north shore to the historic community of Hanaleiwhich is just west of the posh Princeville Resort area.