The St. Stephen's bike path is uninspiring but useful; it parallels Highway 24 between Orinda and St. Stephen's Road, which turns out to be the most direct and least hilly way between Orinda and Lafayette. The path is separated from the highway, and doesn't get much foot traffic, so it's reasonably pleasant. It climbs gradually for most of its length, before ending at St. Stephen's Road after about 5km. Turn left on St. Stephen's, and then right on El Nido Ranch Road after crossing over the freeway. (The first right after the overpass is a freeway entrance; El Nido Ranch Road is a little further around the bend).
El Nido Ranch Road is a wide residential road with little traffic. It descends gradually to the Lafayette city limits, and then there's a fast downhill curve leading up to a terribly-placed stop sign just before the freeway entrance. Blow through the sign, and then prepare to turn left on Upper Happy Valley Road, the next stop sign.
Upper Happy Valley Road is wooded and residential and has little traffic. It climbs gently for a while and then has a short, steeper section (but it's not too bad). After 2 km it ends at Happy Valley Road.
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Turn left on Deer Hill Road. Deer Hill is a wide road with moderate
traffic. It has a couple of short climbs and short descents, then a
short, steep climb and a short, steep descent to a stop light at
Pleasant Hill Road after 3km.
For easy route
Go straight across Pleasant Hill. The road changes names to Stanley
Boulevard; it gradually climbs through a residential area with little
traffic, then gradually descends to Mount Diablo Boulevard. Turn left
on Mount Diablo (the intersection is tricky; you have to turn left
twice, basically), go under the freeway and turn left on Oakland.
Oakland is a low-traffic commercial street that will take you all the
way to the Walnut Creek BART station after about 1km. Total riding is
17km.
For intermediate/advanced routes
Turn left on Pleasant Hill and take it about 2km to Reliez Valley
Road; turn left again. Reliez Valley Road is a quiet, mostly wooded
road lined with ranch houses and farms. This is where the fun starts.
The road climbs slightly from the start, and in earnest after about 2
km. The significant part of the climb is short but rather steep;
don't attack it, because you've got a lot more to do still.
The descent is pretty fun; the pavement is OK but not great, especially watch out for poorly placed manhole covers. After the descent, the road is mostly flat and rural until it ends at Alhambra Valley Road after about 8 km.
Alhambra Valley Road turns 90 degrees at the intersection with Reliez Valley Road; we go basically straight. Alhambra Valley Road is a rural road with practically no traffic. Don't push too hard on this road; it starts with rolling hills but the trend is gradually uphill, and there's finally a fairly sizable climb after about 3 km. This road is a lot of fun but it will kill you if you let it; save your energy for later, there's more climbing to do. After the climb there's a fun, long descent (Pig Farm Hill), ending at Bear Creek Road after about 3 km more.
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Turn left on Camino Pablo. Camino Pablo is mostly flat and straight into
Orinda.
For intermediate route
Continue on Camino Pablo to BART, which will be on your right after 3
km. Total riding is about 65 km.
For advanced route
After about 2km on Camino Pablo, turn right on El Tonoyal.
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After the top of the hill, the road flattens and descends a little to Grizzly Peak by the steam trains. A right turn will take you to Centennial/Euclid/Spruce; a left to Claremont/Tunnel. Take your preferred route home. Total riding is about 75km.