Recommendation for Kayak Camping on Rock Islands + Jellyfish Lake

Hi,

I will be in Palau for a few days. I would like to do a 2-3 day off-tourist adventure ... Kayaking and camping 1-2 nights in the rock islands (just two of us without tour). What is the best way to go about this?

• What is the best destination for 2 nights where we see amazing Rock Islands + Jellyfish lake? I have read Ulong Island is great and Ngchus Beach. However, that's still a bit from these two

• What is the best way to get there? The information is vague but based on what I have read it is hard/dangerous/not recommended to kayak from Ngchus beach to the island with Jellyfish lake. How to get there?

• Any tip on an operator who would drop and pick us up (and rented kayaks)?

Thanks for suggestions!

PS: We have tons of free luggage so we are planning on bringing all of our camping gear. We will need water, food and the kayak.