Drive through Dover Plains, and you'll see a nice yellow-and-blue historical marker for Dover Stone Church right at the entrance to the driveway. The trail heads upstream, hugging the left bank of the brook. The trail can be a little slippery here, so watch your step. You’ll have to be very careful at the cave’s entrance, especially if the water is high. It can be tricky hopping into the cave without getting soaked, but once you’re in there, what an incredibly cool place. The waterfall rushes down behind you while the cave’s entrance frames the forest in front. About 1.2 miles round trip.