Ely is the main western entry point to the BWCA while Grand Marais on the North Shore of Minnesota is the eastern point of entry. Both towns have numerous outfitters where you can reserve canoes/kayaks, often in advance. They often conveniently drop your canoes off at a preferred starting point nearby e.g. Moose Lake and arrange to pick them up at the conclusion of your trip, but check to make sure they offer this service before you book. You can drive your car out to the lake where you want to start - there is usually ample parking available.
