This walk is accessed from the royal national park office, and is a good way to start a royal national park adventure after getting your park pass. The trail head can be found over the old bridge directly across the river the the park office as shown on the map. The trail is well marked and well used and appropriate signage is used so you shouldn't get lost along your way. You will start on a track called Robertson's roundabout, you will come to an T intersection after about 100 meters at which you will follow the signs right to kangaroo creek. After another 350 meters you will reach another intersection which you will again follow the signs to kangaroo creek to your right. From here the rest of the way is straight along the track unto you reach the swimming hole at the end.
If you'd like to do this at a different pace there is a boat shed across from the park office where you may hire a row boat the row up the 2km of kangaroo creek to the same spot that this walk takes you to. This is a lovely swimming hole for you to jump into to cool down and relax in or swim down the creek if you want to explore a bit further after your bushwalk.