Choose either Waimea Canyon Drive or Kokee Road to drive up the canyon. Perhaps one way up and the other way down. Between mile markers 10 and 19, stop at each of the five lookouts on the rim of the canyon starting with Waimea Canyon Lookout. Each lookout provides a different perspective on the canyon and the river making its way to the sea. At the Kalalau Lookout (mile marker 18) you can view the Na Pali Coast and look down Kalalau Valley, reached on foot via the 11-mile Kalalau Trail from Kee Beach.
Just a short drive from Waimea Canyon, Kokee State Park provides more than 45 miles of hiking on seven major hiking trails. Despite being right next to Waimea Canyon, the park is completely different. Visit the Kalalau Lookout and the Puu O Kila Lookout for stunning views of the Napali Cliffs. Trails like the Awaawapuhi Trail provide great views of steep rocky cliffs, valleys and lush rainforest. Beginning at Puu o Kila, the Pihea Trail provides the entrance to the Alakai Swamp and views of Kalalau Valley. Before leaving, be sure to stop of the Kokee Natural History Museum to learn about the history and settlement of Waimea Canyon and nearby areas.