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From Wikitravel:
There are no regular ferries or boats to Cuba from foreign ports, although some cruise liners do visit. Yachters are expected to anchor at the public marinas. Most ports are closed and tourists are not permitted to walk around them. Private vessels may enter at Marina Hemingway in Havana or Marina Acua in Varadero. There are no visa requirements. Expect to hand out several $10 bills to facilitate your entry.