Need advice for our St. Lucia do-over

My husband and I visited this island 5 years ago but made a horrible choice with our shore excursion. I do not remember much about the specific excursion but do know that we spent a large amount of time sitting in a cramped vehicle driving around the island. Maybe drove past the Pitons. Needless to say, we were disappointed (not with the island but our poor choice of excursion) and missed out on what makes St. Lucia great. We'd like opportunity to make a better choice this time around. We are not the type of people that go straight a beach whenever we get in port. What we would like is to experience something that is unique to each island. For example, at Dominica, we plan to snorkel at Champagne Beach and swim Titou Gorge. In Grenada, we are considering activities associated with their reputation as the "spice island." Also visiting Antigua, tortilla, and Puerto Rico. What would be that unique experience for St. Lucia? We are early 30's and have no physical limitations. Any advice to make our do-over of this island a memorable experience is greatly appreciated. Thanks in advance.

Unique to St Lucia are the Pitons. Found nowhere else. A tour or excursion that takes you there is the way to go.

A great, unique day would be down to Soufriere, zip line at Morne Coubaril and lunch with the plantation tour then hike Tet Paul trail and head back to ship. The zip line course at Morne Coubaril is wonderful, with views out to the sea and the Pitons, great local lunch, lots of history and then the Tet Paul trail with its spectacular views over the Pitons, ocean, inland to Mt Gimie, South to St Vincent and North to Martinique!

Lots of operators that can put it together including Serenity TVL, Real St Lucia Tours, Barefoot Holidays, Solar Tours and Travel, Island Man Taxi, Spencer Ambrose, etc....if you can arrange it by boat down and back, even better!

Other options, if you don't want to go to the Pitons inckude the rum factory tour, zipline and waterfall hike on East coast, zip line and aerial tramride up north, Pigeon Island for ruins and hiking and beach, etc..

Down south, there's also botanical gardens, waterfall and mineral baths, volcano and mud baths, etc...could out them together with Tet Paul trail instead of zip line...