You should park at Batsto Village - google should get you there fine (though it is possible to get lost). Exit 52 on the Garden State Parkway and then follow the signs to Batsto Village.
I've posted a hiking map somewhere in this thread - hike through Batsto Village to get to the Mullica River trail. Though I'm a master at getting lost, it will be really hard for you to get lost finding Mullica River campsite. If you have the slightest concern, hike in with the rest of us idiots around 3:30 to 4 pm on Friday.
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