The sealed path up to Rahopara Point at the south end of Kennedy Park is signposted on the north end of Castor Bay beach. Follow the path that then becomes an easy grassed track across the old pa site to the viewpoint on the point. The view back down the coast is superb, and you can just pick out downtown Auckland beyond the small number of Takapuna highrise buildings. This is also a great view point for Rangitoto.
Then head north along the cliff top track into Kennedy Park. The views continue to be excellent, and often framed by ancient pohutukawa hanging off the top edge of the cliff. The view of the yellow to orange reef as the tide goes out is also interesting. You can clearly make out the series of parallel rock formations that follow the coast, pointing towards Rangitoto.
The stairs down the side of the cliff to the beach and reef will be obvious as you follow the track. They are apparently popular for exercising. There was a woman halfway through her regimen of twenty ups and downs when we walked past.
The point and park are also part of the North Shore Coastal Walk / Te Araroa.
