A stunning spot! There's plenty of parking just opposite the cave, and the day we were there, there were people bungee jumping from the outcrop.
The footpath into the cave takes you to the visitors' centre, a strange contrast between hot sunshine with birdsong, into the cool with the roar of the water almost dizzy-making.
The link has details of the visit - as the cave art here is not visible to the public, we just chilled out on the grass for a while.
A great picnic spot for a day out in this area - there's plenty to see!
Oh - and the road to the town actually goes through the cave too .....