The best face-on view of Half Dome you can get on foot, plus Yosemite's only natural arch, on the North Dome Trail. 9.5 miles, 2,170 feet, no permit.
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Look for the big Porcupine Creek Trail Head sign at the parking area and start heading downhill.
From the trailhead you wind down toward the wall of Yosemite Valley and North Dome. It’s a direct route that gets you to the view ASAP.
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The hike to North Dome summit is mostly downhill, and then you have to hike back out. Save some energy for the trip back.
There are a good amount of parking spots at the Porcupine Creek Trailhead, but it can get full, in which case here is roadside parking next to the parking lot.
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