There are several access points; an easy one is from the end of Smith Road which is on the north side of Empire Boulevard between Creek Street and Plank Road.  

The steep dirt road to the shoreline is open for a few hours each day.  The County Parks close the road with a gate by 4 p.m.  Rather than worry about getting out on  time or about trying to navigate the steep road, we find it easier to park in the small lot just  before the gate at the end of Smith Road.  By doing this, the walk down the hill becomes  part of our excursion. 

Irondequoit Bay Park is a well kept secret. It has paths in the woods and along the shoreline; there are streams and  marshes, and the terrain varies from gentle hills to steep embankments. And of course, there are small waterfalls on some of the creeks.  You can hike to the shore and back in 15 minutes or you can spend the entire day walking, hiking, and picnicking. 

Parts of the park are used in the summer by the BayView YMCA day camps but there are plenty of trails for everyone.

You can find a good map of the trails at the Penfield Trails site, Irondequoit Bay Park East (PDF).

Also, visit the nearby hiking trail in Ellison Park North.