Sounds like you were at the right parking spot, follow the walking track up and south for approx 5-10 min. You should come across a small track (rock steps) on your right leading about 50-100m to base of cliff, can't miss it.
Climbing is limited, but good quality rock and climbs make it worth while.
Try
Gnome 17
Thunderbirds are Go 21
PS Full description in Baxters South- East Gramps Guide or VCC South-East update (download from website) guide/ Note the access notes are no longer correct, due to new walking track which starts from Historical Pump House and Carpark
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