How to cross Class B and enjoy it? | San Francisco Bay tour [with ATC]

Crossing a class B (Bravo) airspace can be intimidating.
In this video I'm flying with a Cessna 172 N54102 from Reid-Hillview Airport to San Francisco International Airport (taken at May 2018).
Flying the spectacular San Francisco bay tour, VFR flight, from class C airspace to class B
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