From Lexington, go North on US 11. After crossing I-64, take a left onto VA-39 towards Goshen. Drive about 15 miles. Towards the end of Goshen Pass, look for a view of the swinging bridge on your right. Shortly after, take a left on the gravel road (There are no signs there). Drive down the gravel road to the parking area at the swinging bridge.
You can also click on on the map to get Google directions to the trailhead.