Follow Cape Palliser Road until you reach the stream on the eastern side of Mangatoetoe township, continue another 200 meters until you reach the carpark area just after where the road passes close to the edge of the cliffs.
Take extra care and avoid the gorge when the weather conditions are rough or wet. There are also numerous seals in the area - do not disturb them by getting too close.
The rocks near the car park are a good place to investigate. The Mangatoetoe Stream is accessible further back (west) along the road via a style over the fence. This is a rocky river-bed scramble (moderate).