Part of Camden Hills State Park, so access fees apply.
Leaving the parking area, follow the multi-use trail as part of Camden Hills State Park. This hike starts as an easy trail up a wide gravel path, which gradually rises for about a mile. The trail to Bald Rock summit is on the left with blue blazes. After this point, the trail becomes more challenging with lots of roots and a stone staircase through a nice forested area.
The summit features expansive views up and down the coast and out to the islands of Penobscot Bay. After reaching the summit (look for blueberries!), you can either return the way you came up the trail or continue to follow the rooty trail that drops down to the left (this is the steeper of the two summit approaches).
You'll see the first of two shelter buildings along this part of the trail as you descend through a forested area, featuring some outlooks, such as the outlook from the rocks at the second shelter. Eventually this trail will connect with the multi-use trail, which will take you back to the parking lot.