Lipsey Stream Waterfall is roughly a 1-hour 45-minutes' drive away from Auckland or 2-minutes' from Te Aroha (center of town). The road surface is always sealed.

From Auckland head south-east towards Coromandel (SH2, then SH27), then turn left to Te Ahora. In Te Aroha head to the town center, then to Te Aroha Domain. Leave your car at Te Aroha Domain car park. There is Information Center here as well as the walks board and toilets.

From the car park walk through the domain (uphill) towards Mokena Geyser. Tui-Domain Track starts near the Geyser. The beginning of the track is an easy walk. After roughly 10-15 minutes of walk you will reach a side track with a sign 'Big Waterfall', turn right and visit Tutumangaeo Falls, come back to the main track via Noels Lookout; or continue to walk along the main track for 5 more minutes until you see a Track Information board and begging of Lipsey Track. Follow 'Waterfall Loop' and within a minute you will reach the base of Lipsey Stream Waterfall. 

There is one more waterfall en route, Crusher Falls (along the Tui-Domain Track), but it's covered by trees and not seen much. It's almost impossible to take any good photos.

Return via the same route. Total walking time is about 40 minutes without Tutumangaeo Falls detour, or 1 hour with the detour.