Kingsbridge sits on the estuary and is well worth a visit if you are in the South Hams.
The town is unspoiled with many local shops to browse through (there is a Tesco just outside town). Whilst you can park your car or your coach trip will stop near the estuary on flat ground, the town is on a hill, so if you are less mobile this could prove challenging.
There are several nice cafes in town and a short walk along the estuary is a pub/restaurant called the Crab Shell, that has great views and serves excellent food or just a coffee.
I like to go sea fishing, so there are some great spots nearby; Slapton Sands is a favourite with locals and holiday makers. This year I caught several mackerel.