This hike is 5.6 miles round trip. Our friend Joe, who is leading our hike up Half Dome, hiked with us. He pushed David most of the way in the stroller, but I do not recommend this unless you want a hard workout. He's the one who can run up to the peak in 40 minutes! Also, our friend Trevor came with us and set the pace for my children.
We saw ground squirrels, cows, stink beatles, a blimp, a helicopter, a view of the Bay Area, and a nice sunset.
Trail info: http://www.bahiker.com/eastbayhikes/missionpeak.html