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Amazing park. If you don’t have too much time hiking, the best way to do is to park at the Upper Entrance. You can just do portion trails of Rim and Gorge by connecting a bridge. You can start from the Rim trail to watch the front of the Lucifer Falls, then you can take the Cliffs Staircase down. Using the Bridge to connect the Gorge Trail getting back to the parking lot.
Doing the entire trails for both Rim and Gorge isn’t really much fun, as there aren’t much more to see. The beautiful parts are already in the upper side.
The Lower Falls is very close from the Main Entrance which you can swim. It is better to drive from the Upper Entrance rather take the trails.