Go WEST on the 91 Fwy.  When the Fwy ends, it continues on as Artesia Blvd. 
Continue west on Artesia Blvd..

Turn LEFT (south) on PCH (Pacific Coast Highway).  Go @ 4.3 miles.

On the right, you'll see a large overhead sign that reads, "REDONDO BEACH - KINGS HARBOR".
Do a 45 degree right turn just before it, passing UNDER the sign, onto Catalina Ave.  Go 4.3 miles.

On the right, you'll see a small corner park called Veterans Park.  Just past it, turn RIGHT on Esplanade.

Turn RIGHT into the large parking lot with metered parking spaces.

YOU ARE THERE!!!

Be sure to bring plenty of quarters for the parking meters ($.25 gives 15 minutes).