Day one, you're picked up from your hotel to the ferry port in Zanzibar, take the boat to Dar es salaam, arrive in Dar and board a train to Morogoro, arrive in Morogoro and take a car to Mikumi National Park for dinner and overnight.
Day two, do a full day game drive in Mikumi National Park, dinner and overnight in Mikumi,
Day three, after breakfast head to Maasai village for cultural activities, then drive to Morogoro, catch a train to Dar, then take the boat back to Zanzibar, picked up and drive to your hotel.