You could, but why would you want to. It's about an hour and a half in each direction, and way more during or around rush hour.
Driving every day to Boston is doable. But weekday traffic during rush hour will always be heavy, sometimes it can be downright maddening. Weekends will be better, but there will almost always be a slow-down somewhere along the way. Parking in Boston can be expensive; if you're lucky enough to find a meter you'll do okay but you have to stuff another couple of quarters in the meter every two hours or so.
You can take Peter Pan Bus from Falmouth. A round trip ticket isn't exactly cheap, check before you go. You can park for free at the Falmouth bus depot, but NOT overnight. (They tow all cars that are there at 2:00 a.m.) http://www.peterpanbus.com/
You could drive to Sagamore and take the slightly cheaper Plymouth and Brockton bus as well. Parking at Sagamore is free and unlimited stay. The Plymouth and Brockton bus also has a much more extensive schedule than Peter Pan. http://p-b.com/
Another alternative is to drive to any of several commuter rail stops which are about halfway to Boston and ride the much more economical train in. Go to http://www.mbta.com/ and look for either the Middleborough/Lakeville line or the Kingston/Plymouth line.
One more possibility is to drive to Quincy or Braintree (just outside of Boston) and park at the MBTA Red line garage and then take the subway in. mbta.com/schedules_and_maps/subway/lines/… If you take the subway, coming home won't be so bad, chances are you'll be past the worst of any heavy traffic. MBTA parking rates and train fares, all-in-all are cheap.
Any of the above modes of public transport will get you to South Station which is as good a place as any to start walking around the city.
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