From the south take I-880 north to the 5th Avenue exit (after 23rd Avenue). This exit passes under the freeway to Embarcadero. Continue northwest on Embarcadero. Estuary Park is on the left after the bridge.
From any other direction take I-980 west to I-880 south. Take the Jackson Street exit (first exit). You will come down on 5th Street. In two blocks turn right on Oak Street (last signal before freeway entrance). Take Oak Street four blocks until it ends, then follow the sweeping left turn onto Embarcadero. Estuary Park is on the right past a couple of warehouses.