The Route
A pilgrimage from Mission San Rafael Arcángel to Mission Dolores in San Francisco, inspired by St. Francis of Assisi and the historic mission trails of California.
The Route
The Camino de San Francisco (approx. 24.56 miles/39.5 kilometers) follows a number of different streets, paths, and trails to connect Mission San Rafael to Mission Dolores. Pilgrims should consult local resources for up-to-date conditions along the route.
Every mile reveals a story; every step invites a deeper encounter."
The Route
Rooted in California’s mission history, this 24.5-mile route follows the path connecting Mission San Rafael Arcángel and Mission Dolores in San Francisco. As you walk, you enter a living tradition of pilgrimage—one where nature, history, and prayer come together to shape a meaningful encounter with God.
Section 1
Mission San Rafael to Manzanita (approx. 9.2 miles)
Section 2
St. Patrick Larkspur to Manzanita (approx. 7.6 miles)
Section 3
Manzanita to Golden Gate Bridge (approx. 6.0 miles)
Section 4
Golden Gate Bridge to Mission San Francisco de Asís (Mission Dolores) via National Shrine of St. Francis of Assisi and The Cathedral of Saint Mary of the Assumption (approx. 8.5 miles)
Section 1: Mission San Rafael to Manzanita (approx. 9.2 miles)
From Mission San Rafael Arcángel, head west on Mission Street and turn left on D Street. Continue south, crossing Second Street at the right side of the intersection. Within a few blocks, move to the left side of D Street before beginning the uphill climb on Wolfe Grade (approx. 2.1 miles). Use caution—walking space is narrow.
At the top, cross Sir Francis Drake Boulevard using the pedestrian bridge. Before turning onto Bon Air Road, stop at St. Sebastian Church for your first stamp (approx. 2.4 miles).
Continue along Bon Air Road, passing Hal Brown Park at Creekside (approx. 3.0 miles), where restrooms and a water fountain are available. After crossing Corte Madera Creek, cross Bon Air Road to follow the Larkspur Multiuse Path, which parallels Magnolia Avenue (approx. 3.7 miles).
At Doherty Drive, merge onto the sidewalk along Magnolia Avenue (approx. 6.2 miles) and continue through downtown Larkspur until you reach St. Patrick Church, where you may collect your next stamp .
Section 2: St. Patrick Larkspur to Manzanita (link)
From St. Patrick’s Church, continue south along Magnolia Avenue. As you approach Redwood Avenue, move to the left side of the street and cross (approx. 0.6 miles). Turn left as the road curves to become Tamalpais Drive and head east.
Pass Corte Madera Town Park, which has restrooms and a water fountain (approx. 1.2 miles). As you approach U.S. 101, turn right onto Casa Buena Drive, which parallels the highway (approx. 2.1 miles). After passing Marin Joe’s Restaurant and the on-ramp to 101 South, cross the street to join the bike path (approx. 2.7 miles).
Continue straight as the road curves sharply away from the highway—the path becomes the Horse Hill Path (approx. 3.4 miles). Follow it until it connects with Lomita Drive, then continue to Edna Maguire Elementary School (approx. 4.9 miles). Take the path past the school’s drop-off area to reach the Mill Valley–Sausalito Multiuse Path, turning left (south) (approx. 5.6 miles).
Follow the path through Bayfront Park and continue until you cross Coyote Creek near the Holiday Inn Express in Mill Valley (approx. 7.6 miles).
Section 3: Manzanita to Golden Gate Bridge (approx. 6.0 miles)
From the Holiday Inn Express, take a right onto the Charles F. McGlashen Path, following it along the south side of Coyote Creek toward Tennessee Valley (approx. 0.9 miles). Cross Highway 1 and continue along the path that parallels Tennessee Valley Road (approx. 1.5 miles).
As the road bends, the paved path becomes a dirt single-track. After passing Headlands Avenue and Woolly Egg Ranch, look for the Oakwood Valley Trailhead on your left (approx. 2.3 miles). Cross the road and take the Oakwood Valley Trail, climbing steadily up a series of shaded switchbacks to reach the ridge (approx. 3.4 miles).
Turn right onto the Alta Trail (Fire Road) and continue as it winds along the ridge. At the junction with Rodeo Avenue Fire Road, keep right (approx. 4.6 miles). Stay on the Alta Trail toward the SCA Trail, following signs to the Bay Ridge Trail (approx. 5.2 miles).
Turn left onto the Bay Ridge Trail, then at the Upper Rodeo Valley Trail junction follow the SCA Trail toward the Golden Gate Bridge. Pass through a narrow white fence line and descend via switchbacks along the hillside paralleling Highway 101 to reach the Golden Gate Bridge parking lot on the west side (approx. 6.0 miles).
Section 4: Golden Gate Bridge to Mission San Francisco de Asís/Mission Dolores (approx. 8.5 miles)
via Saints Peter and Paul Church, National Shrine of St. Francis of Assisi, and the Cathedral of St. Mary of the Assumption (approx. 9.4 miles)
Leg 1 – Golden Gate Bridge to Saints Peter and Paul Church (approx. 6.0 miles)
From the west-side parking lot of the Golden Gate Bridge, take the stairs to the pedestrian sidewalk (the east side offers city views; the west side offers ocean views). At the Golden Gate Bridge Welcome Center, follow signs for Battery E Trail and turn right, then left after 0.1 miles to remain on the trail. Soon Lincoln Boulevard will be on your right.
At Crissy Field Avenue (marked “Do Not Enter” for cars), turn left. At Old Mason Street, turn right for a short distance, then at the “Daring Pilots” sign, take the acute-angled path onto the Crissy Field Promenade. Continue east. At Yacht Road, turn right, then left on Marina Boulevard. Turn right on Cervantes Boulevard, then left on Bay Street.
Stay on Bay Street for 1.1 miles until Columbus Avenue, then turn right. At Filbert Street, turn left—Saints Peter and Paul Church will be on your left.
Cross Washington Square Park to return to Columbus Avenue and turn left. A short distance ahead, at the corner of Columbus and Vallejo Streets, is the National Shrine of St. Francis of Assisi.
Leg 2 – Shrine to Cathedral of St. Mary of the Assumption (approx. 2.0 miles)
Facing the Shrine, turn left (west) on Vallejo Street for one block, then left on Stockton Street and proceed through the tunnel. After emerging, turn right on Post Street. Continue for 0.9 miles, then turn left on Gough Street. After a few blocks, the Cathedral of St. Mary of the Assumption will be on your right.
Leg 3 – Cathedral to Mission San Francisco de Asís (approx. 1.4 miles)
Continue south on Gough Street to Market Street and turn right. At Dolores Street (by the Whole Foods Market), turn left. Proceed several blocks south to Mission San Francisco de Asís (Mission Dolores), located on the right.
Spiritual Exercises for the Path
Pilgrimage is an invitation to encounter: with God, with others, and with creation. Every conversation, landscape, and moment of stillness can become a meeting place of grace. St. Francis himself discovered God’s presence in all things—in people, in the poor, and in the beauty of the natural world. Pilgrims are encouraged to take time to meet and converse with people along the way, taking time for silence by limiting use of technology along the way, and taking to the stop to reflect
Recommended Reading:
- The Road to Emmaus– Luke 24:13–35
- Faith is a Journey, Meditations for Pilgrims and Wayfarers – Pope Francis
- Pilgrimage: A Very Short Introduction – Ian Reader
- Pilgrimage: In Search of the Real California Missions – Christian Clifford
- Francis of Assisi: A New Biography – Augustine Thompson, O.P.
- The Mission Walker – Edie Littlefield Sundby
- California Mission Walk: The Hiker’s Guide to California’s 21 Spanish Missions Along El Camino Real – the California Mission Walkers