At the Sedona tourist office you can buy a parking pass which will allow you to park at all trail heads. The pass will include some hiking trail info but I recommend buying a good hiking guide with trail maps and descriptions. We took mostly moderate trails of around 6 miles in length. Climbing into the rocks can be difficult for some people but the views are worth it. Fall is a great time of year to visit since there are no crowds, we had some days of hiking when we didn't pass another person.