The walk begins at Mt Hay car park and follows a walking track to the top of Mt Hay. Then down the other side, along a ridge and beside cliffs to Venus Tor. There are great views of the Grose Valley along the way. There is a moderately steep descent on the east side of Mt Hay. The route to access the top of Venus Tor is optional, and involves a short moderately exposed scramble with good footholds up to a ledge, which is initially narrow, but widens. After lunch, and enjoying the views, we retrace our route back to the Mt Hay car park. Total distance is around 6.5 km with about 350 m total elevation gain, and 4 - 5 hours walking time.