I constantly see people hiking/walking into Maunawili from the main highway(Pali Highway). This is a really long walk before you even get close to the beginning of the trail. You should really Google map this before starting your adventure. There is a city bus that will get you most of the way in but it comes by very infrequently. You can get the schedule here: http://www.thebus.org/route/routes.asp
A very long walk from the main highway. (Maunawili Falls)
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The World of Waterfalls has been to this waterfall, which you can read about here.