Hiked from Highway 159 about 2 miles through the desert floor before entering the canyon. There really is no easy way in, and you are pretty much forced to drop down soon after entering. Lots of boulder hopping and climbing ensues for quite a while before finally being able to exit the canyon and traverse the gigantic sandstone slabs. Stay to the left to avoid exposure or the right if you are feeling more adventurous. My heart rate got up pretty high climbing those slabs, and then reached a more level part where you can look out onto the park. I proceeded to head up to Juniper Peak via a pretty steep chute, with one fun Class 3 maneuver. At this point you can look out over Terrace Canyon. Headed up a little ways and turned left, then doubled back to crawl through a fun key hole boulder that requires some class 3 maneuvering. Not long after that I reached the summit, signed the register, and took a few more pictures. Tons of total elevation gain on this one, probably 2300-2500. Would recommend this to intermediate hikers. It's a great challenge but not hard enough to make you turn around!