I make that trip a couple of times each summer. scottm,Tashmoo and legend all offer great advice. Heading from Falmouth to Boston in the morning should be a great ride thru Woods Hole and Buzzards Bay but as Tashmoo stated make sure your familiar with Woods Hole. I'm probably telling you something you already know but going thru Woods Hole is red, right, return into Buzzards Bay. Sorry just have to state it because I've seen a number of seasoned boaters forget that in there. From Woods Hole to the canal put the Grn 11 on your butt and head for the Red 2 in at the beginning of Hog Island channel, about 11 miles. Make your way into the canal, enjoy the scenery, if you go thru the canal at the posted speed expect the transit to take about an hour, depending on current and traffic. From the east end of the canal make a shot to the #12 buoy off Manomet. From Manomet head northerly across Plymouth Bay, past Saquish Island then along Duxbury Beach to red #6 Farnham Rock buoy. From Farnham Rock head to Grn 1DL off Minot Light, this will take you by Scituate and Cohasset. From Minot Light it is a straight shot into Nantasket Roads. Once in Nantasket Roads follow the charts closely to go thru Quincy Bay into Boston Harbor. There are multiple channels to follow. Should take about 3 1/2 hours or so. Plus you have multiple safe harbors to duck into along the way if you have to.
Enjoy the ride and maybe we'll see you in Falmouth or Buzzards Bay during the summer.
Mike