Access is through the Hualalai Resort. You must check in at the security shack just off the highway at the southern entrance, just 1/4 mile south of the main entrance to the resort. There you get a beach pass from the guard and head down to the public parking area. Get directions from security, you have to double back and take a right. There are only so many public parking spaces available, to ensure entry just get there early, arrival before 8am is pretty much guaranteed access.
From the parking area a nice concrete path leads to the Kukio Bay beach, a few hundred yards further north along the shoreline. The beach is not where you want to go! The beach is on Kukio Bay, we want Kakapa on the south side of the point. Divers only need walk a short distance to the dive entry into Kakapa bay, a good thing when weighed down by tanks, weights, and in a wetsuit.
A small sign noting the presence of public restrooms at the beach is the marker to turn off the path and head straight to the water. Head to the little inlet where a small point of rock creates a protected pool where you can finish gearing up and swim. The pool is deeper towards to the right and the small rocky point.