Drive .6 miles past Nemo toward Rapid City take a right on Estes Creek Road and follow to the top of the plateu. Stay left at all of major intersections and park on top. I believe it is about 2.9 miles from the highway to the top. You can not see any rock where you park, but start exploring to the north, south, east, and west and you will find as many as 250 boulder problems on beautiful rock. There are many crack problems and some short routes. There are many pictures on this site of Estes Creek. Much of the concentrated climbing is to the southeast from where you park. Explore and have fun.
You can also go 1.1 miles past Nemo to Merrit Estes Rd. and drive about 2 miles and park on the right just after passing a large talus field. You then have to hike to the top of the mountain but will pass many issolated problems on the way up depending on which way you go. Driving a little past the parking area gives yo a good view of the most concentrated climbing from the road.