Minute Man National Historic Park

We are planning on camping near there soon. We went there years ago and visited the visitor center and the Concord bridge.

This time we want to walk some of the "Battle Road"... but I am having trouble figuring out where to park, how much to walk, what to expect.

The website is setup oddly, at least to my old timer brain.

For people who have walked the battle road, where did you park? How was the walk? Any things we should be looking for?

Thanks!