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Take the A3083 from Helston. When you enter Lizard village, turn right just past the green, down by the side of the Top House pub into The Square which leads into Penmenner Road.
Follow this road until it becomes an unmade Road. The gates to Penmenner House can be found here on the right.
If you are walking on the coast path, you can take the path up from Pistol Cove and this will bring you straight to the gates.