We hiked to Skaros Rock the next day from a location just outside of Fira. We had to pass through the twon of Imerovigli, which is also visible in the picture.

You can see the zig-zag pathway from the water level to the town of Fira that is taken by people who arrive at Santorini in Cruise ships. Boats taken the people from the cruise ships to the shore. There are mules that take you up and down the pathway if you so desire. There is also a cable car at that location.