You can park in the main lot and take the Lower Falls Trail (which is about half a mile, and not too challenging). If you have a disability, there are a few handicap parking spaces on RT. 77 near the falls that will get you to the falls by a boardwalk.
There are several areas that you can choose on your GPS that say they'll take you to "Cunningham Falls". You'll need to choose the one that mentions William Houck Dr. Then once you're on that road you can simply follow the signs to the "Lake and Falls" area. There's a small parking lot right at the trailhead to the falls that fills up fast on busy days, but no worries as there's a large lot down by the lake. I hope you found this to ne useful information, and happy hiking to you! 😁
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