Get some kind of slide the kayak up from the back. Or a Thule Hullavator. There is a women I sometimes go kayaking with that has the hullavator on here Prius car, so I know they make it for the Prius..
Here is a youtube video of it in action.(not on a Prius) http://www.youtube.com/watch?v=3Pi90FXW4JA
DONT get just J-bars as they require you to pick the kayak up over head.
Wall Mount Boat Racks
2-3 Canoe/Kayak Trailer
EZ-Dock modular docks
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