It’s pretty simple but I’m going to try to be as detailed as possible.
Drive to the neighbourhood of Villa Fatima, and continue on the main road, it eventually becomes the main road to the Yungas region. You will pass the Minasa bus station and soon after the police check-point, where you will need to show your driver’s licence, a fire extinguisher and first aid kit. You will also need to pay a small fee. Continue on this road, you will climb to the summit at 4,600 m.a.s.l. and then you will begin to descend. You will pass two more road blocks, one police and one drug check. Continue on the main paved road for a while, until you have descended all of the mountain. Once you come close to the river valley, you will cross a bridge and arrive to a place called Yolosita, where cars stop and there are many things for sale on the street. From here you want to turn sharp left, right after the police station, and continue on the road that goes to Coroico for about 500 meters. Where it starts climbing, there is a dirt road detour to the right. Take that road and continue for three kilometers, you will see the Senda Verde Sign and the entrance to the parking lot. You may park here.