Waypoint navigation for a visitor to a facility is carried out according to the following steps. Distributing waypoint devices in waypoint locations of the facility. Transmitting waypoint identifier signals from the waypoint devices. Providing a mobile wayfinder device in wireless communication with the waypoint devices to receive the waypoint identifier signals. Identifying an origin and a destination in the facility. Generating a route from the origin to the destination and a return route from the destination to the origin. Determining a current location of the mobile wayfinder device. Determining a current navigation instruction along the route(s) based at least in part on the current location of the mobile wayfinder device, and communicating the current location and navigation instruction information to the visitor.