Garigal National Park (entrance to the walking track) is a park in Killarney Heights. Dogs are generally allowed on a lead in NSW public parks unless signs say otherwise — but the rules here aren't confirmed, so check local signage before visiting.
We walked from St Ives (Acron Oval) to the Cascades (looking good from the rains and the path was covered by the water twice but we got across on rocks) then went south on the Middle Harbour Creek Track. This is a wild area, with great forests and cliffs alongside the mighty Middle Harbour Creek. A lot of the path was rough or sandy and some had blockages (not all from the recent storms) and several spots had tight squeezes through rocks. Stepping Stone Crossing would have been difficult to cross without getting wet (note the goog map has it wrong, Middle Harbour Creek Track and the connecting Governor Phillip Track are entirely on the east side of the creek and the stepping stones are only necessary to get to the Bungaroo Track). Shortly after this and 2 hours after leaving St Ives, we gave up and took the steep road up to Davidson - any exit will require a steep climb to the suburbs on the hills. So worth it though - there are few areas of Sydney this wild.
This was very short and nice bush walk. There is small water falls on the way and a tiny bay where kids can play in sand and water. The rocks are quite slippery near the falls. Overall 30 mins of bush walk return. Good for kids and family.
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