The most family friendly access is via the path at the waypoint at the northern end of the shopping centre car park. There you will find a pathway leading down to Pinecrest and then another to the cache. The other option is to park near the southern end of Stapylton and walk down that way. Why not make it a round trip regardless of which way you go?
Please DO NOT park on Staplylton, as you will be at the bottom of two very steep hills with very little room, while parking in Pinecrest will make the residents in this quiet cul-de-sac wonder what you are up to.