Before lockdown you could park in Nymans garden car park and join the path from there, only possible at the moment though if you pre-book and pay to enter the gardens. I parked along the road in Handcross and joined the path off the B2114. Can be tricky doing this through as it's a tight road and quite busy.
Pretty hilly here, lots of slopes - some steep and with steps. Mix of mud and gravel paths which are well maintained but will be muddy in wet weather. No stiles.
There are several ponds, lakes and streams here but I was actually contacted by the lead ranger of the park to ask people not to allow their dogs into the water as they are having trouble with erosion and damage to the banks. They are having talks to build a specific dog jetty with a special place for dogs to swim but until that's in place to help protect the nature reserve they've asked that dogs are please not to go into the water here.
A couple of poo pins on the entrance path by the car park, none past this.
National Trust Nymans Gardens is adjacent to the woods - they do allow dogs in there but are restrictions and only at certain times of the year so check their website before going if you're planning a visit.
For a quick dog walk, or a family day out this is a great dog friendly location. it can be quite busy as is a very popular location being so close to the National Trust gardens, but as we walked around we still had plenty of space to ourselves and Hank was off the lead for the most part (*17/04/21 - update. Please note from 1st March - 1st September dogs must be on leads due to nesting season. Thanks Earl!)
There's plenty of space to simply explore yourself and there's plenty of benches to stop for a rest or a picnic, or If you check the map on the route in you'll see the pre-defined routes which are well signed throughout the woods. I chose the longer orange route today, which takes you through some beautiful forest areas, some open fields and past several ponds and streams. It is quite hilly, and the biggest hill is to get back to the start right at the end so save a bit of energy for then!