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The trailhead for Kelso is the same as the trailhead for Grays and Torreys Peak. The trail to those peaks is now actually a segment of the Continental Divide Trail. From I-70 either east or west bound, take the Bakerville exit #221 and head south on CR321 that goes all the way up Stevens Gulch. The road initially makes a broader switchback turn then heads in the southerly direction, followed by another brief pair of switchbacks. Beyond there is a winter closure gate. The turnoff for Grizzly Gulch comes in 1.1 mile. If climbing Kelso from Grizzly Gulch you will need to exit right here, otherwise continue on to the trailhead parking for Grays & Torreys Peaks, a total of 3.2 miles from the interstate. The Stevens Gulch Road is gravel and tends to be rough and rocky because of all the traffic it receives. As of summer of 2017, we would recommend that you at least go up this road in a higher clearance vehicle, even though you can see some "sedan" type cars up there. You'll worry a lot less. Even though parking has been improved over the decades, finding a spot in close proximity to the trailhead can be very difficult on weekends. On weekends, expect to see dozens of vehicles parked along the road well before arriving at the trailhead. Early start is almost imperative. There is some limited parking at the Bakerville exit, but hiking from there adds 6.4 miles RT to the overall mileage for the day. If in a group that has multiple vehicles, leave as many vehicles down at Bakerville and cram everyone into a single car. There is a vault toilet available at the trailhead. A fancy bridge takes you across the creek nowadays and joins the old roadbed that is now the official Grays & Torreys trail.
Though we are indicating camping available nearby, this can be a little difficult. There is no designated Forest Service campground nearby in the vicinity. First of all, there are private property concerns all the way up to near the trailhead. Please respect all posted signs. Secondly, you will likely find "car-campers" at the trailhead, mainly pickups with shells, pop-ups, and a variety of roof top tents, etc. Don't expect any privacy or wilderness quiet and solitude for that matter. Since this trailhead is located so close to the Front Range cities, most hikers can make the climbs of Kelso, Grays and Torreys Peaks as a day-climb from home. We suggest doing that. Western slope hikers looking for overnight camping places will do best in the Silverthorne-Dillon area, Peru Creek or Montezuma or up the Guanella Pass road.