Persons, bikes, bicyle trailer and motorbikes don't have to be booked. But you can buy a boat ticket online via the site of Wagenborg Passenger service (www.wpd.nl). This will prevent you from waiting in line at the counter.
If you come with a group (minimum of 15 persons) you can make a group booking, because you can get group discount. More information about Wagenborg Passenger servicey and group discount, you can find here.
If you come by car, caravan and/or trailer, you need to book a place on the ferry in time. You can do this online or by phone (0031-88 103 1000*) at Wagenborg Passenger service.
More information about Wagenborg Passenger service, the departure times and the prices, you can find here.
* If you call from the Netherlands, you can reach Wagenborg Passenger service at telephone number 0900-9238.