Route in brief: Follow the Coastal Trail all the way from the north of Golden Gate Bridge to Muir Beach. The hike goes through Rodeo Beach.
Notes: You may make the hike longer with side trips to Pirates Cove and Tennessee Cove — both are pretty awesome spots to visit. From Tennessee Cove, there is an unofficial but well maintained trail going up the hill lying to the north of Tennessee Cove. The views from the hill top are breathtaking. An unofficial trail continues northwards to join Coastal Trail.
From US-101 North, take exit 445B to merge onto CA-1 North towards Mill Valley / Stinson Beach. Continue 6 miles on CA-1 North, then turn left on Pacific Way and drive 0.2 miles to reach the parking lot for Muir Beach.