You can park in Helston in the free car park opposite the boating lake and go straight into Penrose from there. The estate starts in the woods with a flat tarmac path that was newly resurfaced in 2014, after the National Trust worked with Natural England to acquire the funding for a huge project to open old paths at Penrose and make it more accessible for all ages and abilities.
Winding through the wooded area, Penrose then opens out into parkland looking right down the valley at Loe Pool, this is also where the cafe and walled garden are.
Cycling at Penrose is the best way to explore, flat surfaces (mostly!) and a cafe half way around. Of course it is also wheelchair, push chair, walking, running, scooter and mobility scooter friendly, and the National Trust encourage all of these modes of transport!
After a little up hill you end up overlooking Loe Bar and the Pool, it is a reward at the end of the hill, but also a perfect spot and enjoy the view.