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This beach was recommended to us by a friend back in Australia, who used to live in the area. Barafundle Bay is a curved beach located in a secluded area, with access only possible via a walk from either Stackpole Quay (1km away) or Broad Haven South, (roughly 2km away) along the Pembrokeshire Coast path.
The area is in part of a National Trust property and was once listed as one of top 12 beaches in the world.
Access is not wheelchair or pushchair possible as it's set in between cliffs with steep inclines either side. You may also want to check tide times to avoid getting stuck on the wrong side of the beach if you go up the opposite side from where you entered.
We drove to Stackpole Quay, which is at the end of a small narrow road, which at some points, only one car can pass at a time, so it's best to drive slowly. There's a pay and display carpark (free for English National Trust members). There's also a cafe just beside the car park.
From the Stackpole Quay, you walk along a dirt path to the clifftop (not near the edge), until you get to some stairs that the previous owners had built to make it easier to get down to the beach. You can spend some time here or cross the sandy beach and continue up along the clifftop path.