To answer your question:
At the intersection of Robbins Road and US 31 turn left onto Robbins Road. Drive about .4 mile and then turn right onto Sheldon Road. Drive for about .3 miles and then turn left (West) onto Grand Avenue. The road name will change to S. Harbor Drive. You will drive along the beach and then turn left into the State Park.
You can also drive through town but I think this way might be easier.
Marilyn w/ Joe, 2016 Class C Sunseeker 2430 SF, often pulling a Ranger bass boat. Traveling with Trigger
Smudge & Gizmo are waiting at the Rainbow Bridge