From Taba it is fairly easy to go to Petra.

You cross into Israel at the Border. You are met at the other side with your coach, driven to the Jordanian border, where you pay for your visa. Met by your Jordanian tour guide and then driven to Petra.

We went there on a day trip and it is well worth it. A word of caution though, it is okay walking down, but get a carriage for the return uphill. It is a long trek.

We loved Taba, nothing to do but relax and snorkel, dive etc. There are plenty of other trips on offer should you wish. By the way, you can actually walk through the border and do shopping Eilat in the tax free mall there. Another day well worth it.