This trail starts right from a switchback on 23A. Parking is actually just west of the switchback and is fairly clearly marked, but you'll have to hike along the road to the trailhead. During holidays, this parking area could be full.
Right at the base of the trail is a decent cascading waterfall. A few switchbacks will take you above this cascade. You'll then gradually gain elevation as you hike along Spruce Creek. This trail gets a lot of use so the trail has morphed into many trails that weave through the forest.
When you get to the base of the falls you can hang out on the rocks to get some different vantage points. The sun will rise over the top of the falls, so pictures could be washed out and might turn out better much earlier or in the afternoon. We saw many families and all kinds of footwear on this trail, so feel free to bring the kids!
A new stone staircase, with roughly 200 steps, was built at the base of the falls. Follow the stairs up to the Escarpment Trail
(blue). Stay on the joint Escarpment Trail
/Kaaterskill Falls Trail until you reach a fork. Head left at the fork to reach the final viewing platform for the falls.