Lands End to Eagle's Point is a stunning section of the Coastal Trail. Park in or near the new lot at Point Lobos Ave and El Camino del Mar. Before or after the walk check out the ruins of Sutro Baths. I'd put some of that American Recovery and Reinvestment Act cash into rebuilding the baths, it looks like they were incredible.
If you follow the trial down the the baths then there's a short but very cool cave to explore which ends in another unique view of the pacific and the mouth of the Golden Gate.
From Sutro Baths follow signs to Eagle's point. There are some very steep cliffs along the trail, so a leash is a really good idea for dogs.
One worthwhile detour is to wonder down to Mile Rock Beach. It's a stony and impressively violent beach with a couple of lookouts on the way down with impressive views.
Hike starts at: 37.783491, -122.510793.