Heyup Gwass,
A gps does help*, but for a few of the good sites that Mac mentions, the ones in Northumberland, you can find them quite easily with an OS map and a quick look at one of Stan Beckensall's books. Chatton, Weetwood, Old Bewick and Lordenshaw are amosgts the best from an ease of finding vs interestingness of carving perspective, but way and beyond them, on both counts, is Roughting Linn, which is a superb example and very close to the road. Almost unmissable.
If you want a bit of variation though, try Kilmartin, the rock art is clearly signposted at Achnabreck, Kilmichael Glassary and Cairnbaan and is of equally superb quality as those sites in Northumberland. Plus, you get all the standing stones, cairns etc. Northumberland is a bit short on decent standing stones, and the cairns are all chamberless ruins that have been mucked about with.
This message brought to you by the Big-up Northumberland Rock Art Association. Someone else might give you the low down on Dumfrieshire, Perthshire and Yorkshire, which are the other main rock art patches that have decent quality stuff that doesn't need a gps.
*To be honest, it can sort of take a bit of the fun out of the proceedings.