Once you pull into the Visitor Center Parking Lot, drive down towards the Baptism River and park before crossing the river. The trailhead is just on the other side of the river.  The trail follows the river towards the falls with several small trails down to enjoy the river and rapids at different points. Be prepared for a few hundred feet of elevation gain and a muddy, slippery trail when wet. There is a slight scramble to the falls that is manageable, but could be a little tough with a pet. 

Once you get to the falls you can sit and enjoy it, or follow the trail and scramble to the top of the falls.