There are two places for what you are looking for. One is at Marco Island at the Marco River Marina and the 2nd one is in Ft. Myers at the Salty Sam's Marina. If you are needing the website, it will explain everything to you as well as the cost, usually around $100/person. Pick a day that the water will be smooth so as not to upset your tummy. :D Here is the webste:
www.keywestshuttle.com/main.htm. Have fun in Key West!