To get to the parking lot, you have to drive into Prentice Cooper and a bit of the way down the gravel road. It'll be on your right, it's clearly a parking lot once you find it. There's some picnic tables, and an outhouse if you're daring. If you're in the right spot, there should also be a big display board with a map on it.
The trail entrance can be hard to find. It's across the road, there's a wooden sign by it, but it's hard to spot. It's clearly the trail once you find it, but I, and plenty of other people, have trouble the first time.
The trail itself is nice. Right near the start, you'll hit the Indian Rockhouse, with is a huge overhanging rock, pretty cool space. Go past that (Going to the left), and it's about 2.5 miles to the overlook, which is a amazing view of the rivervalley. You'll only have hikers to worry about. Nothing too technical, but still a nice tight trail