Park fee is $15 for 16 yrs old and up, free for 15 yrs old and younger. If you have the national park pass, then it's free up to 3 adults. Free for military too. Also, don't forget to reserve your parking ahead of time and print your confirmation because there's no cell service down there.
For regular parking, what everyone has already said is correct. However, I am disabled, and my husband and I made an impromptu visit to Muir Woods last year, without knowing that we should have made those arrangements before we left. The park personnel did try to turn us away, but when we showed my handicap placard, they were very gracious and helpful. I will say that while the main trails are accessible to wheelchairs, there are some places that aren't, including a restaurant that was up a series of very steep steps. Make sure you have a good cushion, if you're going to use a wheelchair. The wooden decking is quite rough in places, and the ride can be jarring. Also, having a somewhat athletic assistant to get the chair over some of the rougher terrain that isn't covered by wood decking is essential. It's worth the trouble, though. Muir Woods is one of the best redwood forests I've visited along the northern California coast.
Agreed, if you don't do this ahead of time, you will waste your trip. We went and had to show the parking lot attendants our confirmation. They will turn you away if you don't pay for parking ahead of time.
No entrance fee, $8 parking fee but you must do in advance online otherwise it will be sold out when you arrive.
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