Entering Canadian Waters for Leisure Cruising
You can now enter Canada for leisure and touring, including pleasure fishing, sightseeing and other discretionary purposes (known as loop movements).
However, you must:
continuously remain on your boat while in Canadian waters
not land in Canada
not make contact with another boat
not moor or anchor while in Canadian waters
If at any point you land on Canadian soil, come in contact with another boat or drop anchor, you will be required to report to the CBSA and if you’re eligible to enter Canada, you will become subject to all entry requirements including pre-arrival testing and submitting your mandatory information into ArriveCAN. Travellers engaged in transit or loop movements are not required to report to the CBSA.
Here is the full link https://www.cbsa-asfc.gc.ca/travel-voyage/pb-pp-eng.html#s01