Drive in, remember to pay the $5 parking or you will be ticketed, head straight back. Whe you come to the stop sign you can go right/forward to the gold course and the river will be on your left. I suggest going left towards the Effie Yaw Nature Center. They have educational exhibits and great paths that take you right to the river.
You can park in the lots across from the golf course parking lot and walk about 100 yards to the river. There are several access points to the river.
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