We took an urban hike to Corona Heights Park right in the middle of the city to take in views of downtown, Sutro Heights and south of San Francisco.

You can access the park at Roosevelt and Museum Way (above the Randall Museum), and feel free to bring the dog as there is an off-leash area. It's a quiet oasis perched right above the busyness of the Castro. Find out more info here at SF Parks and Recreation.