The Route
Turn right on Bootjack and start heading down the mountain. It's a steep walk, but shady the whole way; it's sublime in the winter when water's running in the creeks, but it's a wonderful walk in the woods any time of year.
It's just 1.3 miles on the Bootjack down the main paved path at Muir Woods National Monument, where it's a left turn and about another mile of walking to the Muir Woods park headquarters, where you can pause for lunch and fight the temptation to grab a beer at the park's cafe (you wouldn't want to be tipsy for the walk back).
Give yourself an hour or more of just strolling among the ancient, giant redwoods, then find your way back to the Bootjack Trail and start climbing back up; turn left at Alpine Trail and return to Pantoll.

