This is the Escarpment walk

Directions from Red Rock National Park
Proceed to the Willow Spring Picnic Area and from there follow the Rocky Gap road (the non-maintained track at the end of the pavement). At the fork for LaMadre Spring take the left fork heading southwest. The road climbs all the way and you pass the Lone Pine Spring about 3 miles up the road and Switchback Spring which is an excellent place to pause and refresh yourself, I don't know if you are supposed to drink the water but I have on a few occasions and have suffered no ill effects. Eventually the road finishes at Reb Rock Summit after about 5 miles. From the summit follow the trail to the left and head along the ridge easterly until you reach the top of the escarpment and have magnificant views of Red Rock. Whilst the hike is easy to walk as most of it you are walking on the 4wd track, the walk to the summit is all uphill and by the time you come to walking the trail to the top, you are shattered. Everything will be forgotten once you see the views though, and the walk back to the carpark is all downhill and the spring does provide a well earned freshening up stop.
Total climb time varies on fitness level but it can easily be done in 8 hours which includes a few rest stops and lunch at the summit.
Although I have not walked it myself the end of the trail leads into another walk to Bridge Mountain, which I am not sure if this can be walked in one day, indeed this way might provide an alternative route back to the carpark.
Views along the way, and from the top