This walk could start at the parking lot of Lilland Hotell, or a discrete place on the shoulder of the road in the adjacent neighbourhood. Go up the steep Vågadalsvegen road and take off onto the path to the right when you get up.
After a steep ascent, the path splits and you should keep left. You will then follow the ridge passing several viewpoints like Hegrafjedle and Midtfjedle before you get to the summit of Taurafjellet, a place also called Geitastova.
From here, you can enjoy a wonderful view over Tau and its harbour, as well as the Ryfylkebasin with the isles of Idse, Heng closeby and all the way to Rennesøy in the west. When the weather is clear, you'll have a good view of Stavanger and surroundings. If you continue just a little bit, you can have a peek around the corner of the mountain at the isles Talgje and Finnøy.