I highly recommend a 1-day guided bus or group tour. Several are available from Tiberias. A 1-day tour of the Golan Heights will cost you NIS 140 to NIS 190 ($35-$48/£18-£24), depending on which tour you choose. Egged Tours (tel. 04/672-9220) does full-day tours from Tiberias to the Galilee and the Golan for the same prices, going to about the same places. The Egged tours leave at 8:30am on Tuesday, Thursday, and Saturday from the Tiberias Central Bus Station; you can also arrange to be picked up at your hotel for no extra charge. The Society for Protection of Nature in Israel also offers quality tours and hikes of the region.
Yet another option is to check with Tiberias's major hotels, many of which will have information about private guided tours. If you want to start out from somewhere other than Tiberias, Egged and Galilee offer tours leaving from Haifa, Tel Aviv, and Jerusalem; check their information booklets or call for details.