This is a fantastic hike to do in the fall (late October) and is very close to Sedona. The road to the actual trailhead is very much a 4wd road, I got hung up a few times due to the long wheelbase of the van, but any SUV with a decent amount of clearance will make it here no problem. For everyone else you must park down at the lower trailhead which mean an extremely long hike. From the real trailhead it is a 12 mile round trip hike, I'm not sure what it would be from the lower trailhead... You can find more information from the Forest Service. To see the very minimum of this canyon I recommend going in at least 3 miles. The next 3 miles after this are spectacular though.
All photos taken with the Fuji XT-1 and are straight out of the camera