Start off by parking your car in the designated parking area for the waterfall. Another area used to serve as parking for the falls that was much much closer, however most of the area was considered private property and tourists had damaged nearby plant life so they established this newer area. Nonetheless, the path towards Bruarfoss is more or less well kept.
There are some spots where multiple trails can be taken, all with the same end point. You will start the hike (about 1 hour each way) by going through a field of brush, which will gradually lead you through a wooded area and finally along the river itself. There are also two smaller waterfalls on the way to Bruarfoss that are nice to take a rest at (Midfoss and Hlauptungufoss).